Brake device and cleaning robot

Abstract

The utility model provides a braking device and a cleaning robot. The brake device comprises a brake pad and a driving device. The brake pad is fixedly connected with the walking wheel; wherein a plurality of grooves are formed in the peripheral surface of the brake pad; the driving device is used for driving the shaft part to move so that the shaft part can get close to or get away from the brake pad, and when the shaft part gets close to the brake pad, at least part of the shaft part can be located in the groove.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a brake device and a cleaning robot, and belongs to the technical field of cleaning equipment. BACKGROUND

[0002] In the context of the outbreak of service robot well blowout and the rise of labor costs, the cleaning robot, as an intelligent assistant that can free both hands, has the functions of autonomous sweeping, washing and mopping, and can greatly improve the cleaning efficiency in indoor, supermarket, factory and parking lot scenes.

[0003] In actual use scenarios, the cleaning robot will stop urgently to ensure the safety of the surrounding environment, pedestrians or the robot itself, or will stop temporarily on a slope and require not to slide down the slope to meet certain use requirements and test requirements, which requires the robot to have the ability to stop reliably in a short time.

[0004] In the prior art, the cleaning robot generally realizes the braking effect by the cooperation of brake pads and brake valves. The control method of this braking structure is complex. CONTENT OF THE UTILITY MODEL

[0005] The present disclosure provides a brake device and a cleaning robot.

[0006] According to one aspect of the present disclosure, a brake device is provided, which is used in a cleaning robot including a walking wheel; the brake device comprises:

[0007] A brake pad is fixedly connected with the walking wheel; wherein the outer circumferential surface of the brake pad is formed with a plurality of grooves;

[0008] A driving device is used to drive the shaft component to move, so that the shaft component can approach or move away from the brake pad, wherein at least part of the shaft component can be located in the groove when the shaft component approaches the brake pad.

[0009] The brake device according to at least one embodiment of the present disclosure further comprises:

[0010] A guide component is formed with a guide hole, and the shaft component is slidably arranged in the guide hole.

[0011] According to the brake device according to at least one embodiment of the present disclosure, the shaft component moves in a direction perpendicular to the axis direction of the brake pad.

[0012] According to the brake device according to at least one embodiment of the present disclosure, the plurality of grooves are uniformly distributed along the circumferential direction of the brake pad.

[0013] According to the brake device of at least one embodiment of the present disclosure, the groove is formed as a circular arc type slot.

[0014] According to the brake device of at least one embodiment of the present disclosure, the number of the grooves is 10-20.

[0015] According to another aspect of the present disclosure, a cleaning robot is provided, which includes the above-described brake device, wherein the cleaning robot includes a traveling wheel, and the brake pad of the brake device is fixedly connected with the traveling wheel.

[0016] According to the cleaning robot of at least one embodiment of the present disclosure, further comprising:

[0017] A housing assembly, wherein the traveling wheel is rotatably arranged on the housing assembly.

[0018] According to the cleaning robot of at least one embodiment of the present disclosure, further comprising:

[0019] A pull rod device, wherein the pull rod device is fixedly connected with the housing assembly.

[0020] According to the cleaning robot of at least one embodiment of the present disclosure, the pull rod device comprises:

[0021] A left pull rod assembly and a right pull rod assembly, wherein the lower ends of the left pull rod assembly and the right pull rod assembly are fixedly connected with the housing assembly.

[0022] A handle assembly, wherein the two ends of the handle assembly are arranged on the upper ends of the left pull rod assembly and the right pull rod assembly.

[0023] A handle assembly, wherein the two ends of the handle assembly are arranged on the upper ends of the left pull rod assembly and the right pull rod assembly.

[0024] A first left rotating member, wherein the first left rotating member is driven and rotated by the handle assembly; and

[0025] A first right rotating member, wherein the first right rotating member is driven and rotated by the handle assembly.

[0026] When the first left rotating member rotates, the first left rotating member drives the first left driving member to move downward; when the first right rotating member rotates, the first right rotating member drives the first right driving member to move downward.

[0027] According to the cleaning robot of at least one embodiment of the present disclosure, the handle assembly comprises a rotating shaft part and an operating part, wherein the rotating shaft part is rotatably supported on the handle assembly and located inside the handle assembly, and the operating part is connected with the rotating shaft part and rotates the rotating shaft part by applying force to the operating part.

[0028] According to the cleaning robot of at least one of the embodiments of the present disclosure, one end of the rotation shaft part of the handle assembly is connected with a first left universal joint, the first left universal joint is further connected to one end of a first left transmission shaft, the other end of the first left transmission shaft is connected to a second left universal joint, the second left universal joint is further connected to a second left transmission shaft, and the first left rotating part is fixed with the second left transmission shaft.

[0029] According to the cleaning robot of at least one of the embodiments of the present disclosure, the second left transmission shaft is rotatably supported on the handle assembly through a first left support seat.

[0030] According to the cleaning robot of at least one of the embodiments of the present disclosure, one end of the rotation shaft part of the handle assembly is connected with a first right universal joint, the first right universal joint is further connected to one end of a first right transmission shaft, the other end of the first right transmission shaft is connected to a second right universal joint, the second right universal joint is further connected to a second right transmission shaft, and the first right rotating part is fixed with the second right transmission shaft.

[0031] According to the cleaning robot of at least one of the embodiments of the present disclosure, the second right transmission shaft is rotatably supported on the handle assembly through a first right support seat.

[0032] According to the cleaning robot of at least one of the embodiments of the present disclosure, the left pull rod assembly includes a first left pull rod, and an upper end of the first left pull rod is fixed to the handle assembly.

[0033] According to the cleaning robot of at least one of the embodiments of the present disclosure, a lower end of the first left pull rod is provided with a first left locking assembly, and the first left locking assembly can be driven and unlocked by the first left driving part.

[0034] According to the cleaning robot of at least one of the embodiments of the present disclosure, the first left locking assembly includes:

[0035] a first left force applying part, which can be connected with the first left driving part to drive the first left force applying part to move downward by the first left driving part;

[0036] a first left locking part, which is arranged to cooperate with the inclined surface of the first left force applying part, so that when the first left force applying part moves downward, the first left locking part can move in a direction perpendicular to the length direction of the first left pull rod, and the part of the first left locking part exposed to the outer end of the first left pull rod can be retracted into the inside of the first left pull rod. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings, which are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure.

[0038] Figure 1 is a structural schematic diagram of a cleaning robot according to an embodiment of the present disclosure.

[0039] Figure 2 is a structural schematic diagram of another state of a cleaning robot according to an embodiment of the present disclosure.

[0040] Figure 3 is a structural schematic diagram of another angle of a cleaning robot according to an embodiment of the present disclosure.

[0041] Figure 4 is a structural schematic diagram of a brake device according to an embodiment of the present disclosure.

[0042] Figure 5 is a structural schematic diagram of a pull rod device according to an embodiment of the present disclosure.

[0043] Figure 6 is a structural schematic diagram of another angle of a pull rod device according to an embodiment of the present disclosure.

[0044] Figure 7 is a structural schematic diagram of a handle assembly according to an embodiment of the present disclosure.

[0045] Figure 8 and Figure 9 is a working principle diagram of a pull rod device according to an embodiment of the present disclosure.

[0046] Figure 10 is a structural schematic diagram of a left pull rod assembly according to an embodiment of the present disclosure.

[0047] Figure 11 is an internal structural schematic diagram of a left pull rod assembly according to an embodiment of the present disclosure.

[0048] Figure 12 is a structural schematic diagram of a first left locking assembly and an i-th left locking assembly according to an embodiment of the present disclosure.

[0049] Figure 13 is a principle diagram of a first left locking assembly according to an embodiment of the present disclosure.

[0050] Figure 14 is a principle diagram of an i-th left locking assembly according to an embodiment of the present disclosure.

[0051] The reference numerals in the drawings are specifically as follows:

[0052] 100 housing assembly

[0053] 400 steering wheel

[0054] 500 walking wheels

[0055] 600 cleaning assembly

[0056] 700 braking device

[0057] 710 brake pad

[0058] 720 driving device

[0059] 730 shaft component

[0060] 740 guide component

[0061] 800 pull rod device

[0062] 801 first left universal joint

[0063] 802 first left transmission shaft

[0064] 803 second left universal joint

[0065] 804 second left transmission shaft

[0066] 805 first right universal joint

[0067] 806 first right transmission shaft

[0068] 807 second right universal joint

[0069] 808 second right transmission shaft

[0070] 810 left pull rod assembly

[0071] 811 first left pull rod

[0072] 812 first left locking assembly

[0073] 812A first left fixed seat

[0074] 812B first left force applying member

[0075] 812C first left locking member

[0076] 813 ith left pull rod

[0077] 814 ith left locking assembly

[0078] 814A ith left fixed seat

[0079] 814B ith left force applying member

[0080] 814C ith left locking member

[0081] 820 right pull rod assembly

[0082] 830 handle assembly

[0083] 840 handle assembly

[0084] 841 rotation shaft part

[0085] 842 operation part

[0086] 850 first left rotation member

[0087] 860 first right rotation member

[0088] 870 first left driving member

[0089] 880 first right driving member DETAILED DESCRIPTION

[0090] The present disclosure will be further described in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are merely exemplary and are not intended to limit the disclosure. In addition, it should be noted that only parts related to the present disclosure are shown in the drawings for the purpose of description.

[0091] It should be noted that the embodiments and features in the embodiments in the present disclosure can be combined with each other without conflict. The technical solutions of the present disclosure will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0092] Unless otherwise specified, the exemplary embodiments / examples shown will be understood as providing exemplary features of various details that can implement the technical concepts of the present disclosure in practice. Therefore, unless otherwise specified, the features of various embodiments / examples can be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of the present disclosure.

[0093] In the drawings, cross-hatching and / or shading are generally used to make the boundaries of adjacent components clear. Thus, unless otherwise specified, the presence of cross-hatching or shading does not convey or imply any preference or requirement for specific material, material properties, dimensions, proportions, commonality of the illustrated components, and / or any other characteristic, attribute, property, or the like of the components. In addition, in the drawings, the size and relative sizes of components can be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be practiced differently, a specific process sequence can be performed in a different order than described. For example, two consecutively described processes can be performed substantially simultaneously or in an order opposite to that described. In addition, the same reference numbers represent the same components.

[0094] When a component is referred to as being "on", "connected to", or "coupled to" another component, it can be directly on, connected, or coupled to the other component, or intervening components can be present. 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. By contrast, when a component is referred to as being "indirectly on", "indirectly connected to", or "indirectly coupled to" another component, there are one or more intervening components present. In this context, the term "coupled" can refer to physical, electrical, and / or the like, connections, with or without intervening components.

[0095] For purposes of the description hereinafter, spatial or directional terms, such as "below", "lower", "bottom", "bottomed", "above", "upper", "top", "up", "over", "higher", and "side" (e.g., as in "sidewall") are used with reference to the orientation of the component being described as illustrated in the drawings. The spatial or directional terms are intended to encompass different orientations of the device in use, operation, and / or manufacture, dependent on the particular orientation of the device in use, operation, and / or manufacture. For example, if the device in the drawings were turned over, then a component described as "below" or "under" another component would then be oriented "above" the other component. Thus, the exemplary term "below" can encompass both an orientation of above and below. Moreover, the device can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatial or directional terms used herein interpreted accordingly.

[0096] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, to the extent that the terms "including", "includes", "containing", "contains", or "containing", "contains" and variations thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term "comprising" as an open transition term without precluding any additional or other elements. It is also noted that, as used herein, the terms "substantially", "approximately" and other similar terms are used as synonyms for "about", so that the term "substantially", "approximately", and other like terms have the same meaning as "about".

[0097] Figure 1 is a structural schematic of a cleaning robot according to an embodiment of the present disclosure. Figure 2 is a structural schematic of another state of a cleaning robot according to an embodiment of the present disclosure. Figure 3 is a structural schematic of another angle of a cleaning robot according to an embodiment of the present disclosure.

[0098] by Figures 1 to 3 Taking the cleaning robot shown as an example, let's consider the robot's forward direction as "forward". Figure 3 In the view orientation, the cleaning robot's forward direction is upward to one side. The direction away from the cleaning robot's forward direction is backward. (Refer to...) Figure 3 In the view orientation, the rear of the cleaning robot refers to the side below it. Correspondingly, the direction perpendicular to the front-back direction can be defined as the left-right direction.

[0099] like Figures 1 to 3 As shown, the cleaning robot may include a housing assembly 100, which can be formed as the body of the cleaning robot. The bottom of the housing assembly 100 is provided with steering wheels 400 and driving wheels 500. The steering wheels 400 are used to control the direction of travel of the cleaning robot, and the driving wheels 500 are used to drive the cleaning robot forward. The steering wheels 400 are located at the rear of the housing assembly 100, and the cleaning component 600 is rotatably connected to the bottom of the housing assembly 100, thus located at the rear of the housing assembly 100.

[0100] like Figure 2 As shown, the present disclosure provides two walking wheels 500, which are located at the front end of the housing assembly 100 in the front-rear direction and on both sides of the housing assembly 100 in the left-right direction. Furthermore, it provides one steering wheel 400, which can be a swivel wheel, positioned at the middle of the cleaning robot in the left-right direction and near the rear end of the cleaning robot. Of course, the present disclosure also provides two or more steering wheels 400.

[0101] In actual use, the walking wheels 500 can be driven and rotated. By controlling the walking wheels 500 to rotate at a constant speed, the cleaning robot can move forward. Correspondingly, by controlling the walking wheels 500 to rotate at unequal speeds, the cleaning robot can be controlled to turn.

[0102] In a preferred embodiment, a cleaning component 600 is further provided on the housing assembly 100; in this disclosure, the cleaning component 600 is rotatably connected to the housing assembly 100 and configured to clean the surface to be cleaned. In a preferred embodiment, the cleaning component 600 can be a mop pad, that is, the rotating mop pad can wet mop the surface to be cleaned, so that the surface to be cleaned can be cleaned more thoroughly.

[0103] In a preferred embodiment, the cleaning assembly 600 can be provided in two, and the cleaning robot of the present disclosure can perform self-cleaning of the cleaning assembly 600 of the cleaning robot according to the working time of the cleaning robot when working; more preferably, the working time can be different according to the dirt level of the ground. For example, when the dirt level of the ground is relatively large, the working time can be set to be relatively short; accordingly, when the dirt level of the ground is relatively small, the working time can be set to be relatively long.

[0104] Meanwhile, when the cleaning robot completes the cleaning work for a predetermined time, it can automatically return and dock at the base station, and the base station can perform self-cleaning of the cleaning assembly 600 of the cleaning robot.

[0105] Figure 4 is a structural schematic diagram of a braking device 700 according to an embodiment of the present disclosure.

[0106] As shown in Figure 4 , the braking device 700 of the present disclosure can include a brake pad 710 and a driving device 720.

[0107] The brake pad 710 is fixedly connected with the walking wheel 500; that is, the brake pad 710 can rotate synchronously with the walking wheel 500, and at this time the rotation of the brake pad 710 can be controlled to realize the braking of the cleaning robot.

[0108] In an embodiment, the brake pad 710 is formed as a whole in a disc structure, and a plurality of grooves are formed on the outer circumferential surface thereof; preferably, the plurality of grooves are uniformly distributed along the circumference of the brake pad 710.

[0109] In a specific embodiment, the groove is formed as a circular-arc groove. Thus, when one end of the shaft member 730 is inserted into the groove, it can be guided by the inner surface of the circular-arc groove to prevent the shaft member 730 from colliding with the brake pad 710 with a large force.

[0110] In the present disclosure, the number of grooves is 10-20, for example, the number of grooves can be set to 12.

[0111] Referring again to Figure 4 , the driving device 720 is used to drive the shaft member 730 to move so that the shaft member 730 can approach or move away from the brake pad 710, wherein when the shaft member 730 approaches the brake pad 710, at least part of the shaft member 730 can be located in the groove. In a specific embodiment, the driving device 720 can be an electromagnet.

[0112] The brake device of the present disclosure adopts a push-pull electromagnet of an electrical basic component, matches with a guide hard limit structure, is stable and reliable, can bear the huge inertial force in emergency stop, and has a very small space, is simple and efficient, and can effectively solve the existing problems.

[0113] The brake device 700 of the present disclosure further comprises a guide component 740, the guide component 740 is formed with a guide hole, and the shaft component 730 is slidably arranged in the guide hole, so that the shaft component 730 can be guided by the guide component 740, so that the shaft of the electromagnet can move along a straight line, and the support function can be provided when the brake walking wheel is braked, so as to prevent the huge inertial force and driving force from directly knocking or damaging the shaft of the electromagnet.

[0114] In the present disclosure, the shaft component 730 moves in a direction perpendicular to the axis direction of the brake pad 710, so that the shaft component 730 can be inserted into the groove in the radial direction.

[0115] Based on the above structure, when the cleaning robot works normally, the electromagnet is in a retracted state, the electromagnet and the brake pad maintain a certain distance, and the walking wheel works without disturbance according to the instruction; when the robot judges that emergency braking is needed, the shaft of the electromagnet is inserted into the limiting groove of the brake pad, so that the walking wheel stops working, and braking is realized.

[0116] The driving device of the present disclosure can also adopt a rocker structure, a swing arm structure, a compression spring pop-out structure, etc. Moreover, the brake pad of the present disclosure can be integrated with the walking wheel, that is, a groove or a through hole can be formed on the walking wheel, and at least part of the shaft component 730 is inserted into the groove or the through hole, so as to realize the braking of the cleaning robot.

[0117] Figure 5 It is a structural schematic diagram of the pull rod device 800 according to an embodiment of the present disclosure. Figure 6 It is a structural schematic diagram of the pull rod device 800 from another angle according to an embodiment of the present disclosure. Figure 7 It is a structural schematic diagram of the handle assembly 840 according to an embodiment of the present disclosure. Figure 8 and Figure 9 It is a working principle diagram of the pull rod device 800 according to an embodiment of the present disclosure. Figure 10 It is a structural schematic diagram of the left pull rod assembly 810 according to an embodiment of the present disclosure. Figure 11 It is an internal structural schematic diagram of the left pull rod assembly 810 according to an embodiment of the present disclosure. Figure 12 It is a structural schematic diagram of the first left locking assembly 812 and the i-th left locking assembly according to an embodiment of the present disclosure. Figure 13 It is a principle diagram of the first left locking assembly 812 according to an embodiment of the present disclosure.Figure 14 is a schematic diagram of the i-th left locking assembly according to an embodiment of the present disclosure.

[0118] As shown in Figures 5 to 14 , the cleaning robot of the present disclosure further comprises a pull rod device 800 fixed to the housing assembly 100 of the cleaning robot. Meanwhile, when the pull rod device 800 is pulled out, it can be at least partially above the upper surface of the housing assembly 100, thereby being able to drag the cleaning robot by operating the pull rod device 800. On the other hand, as shown in Figure 2 , when the pull rod device 800 is retracted, it can be inside the housing assembly 100.

[0119] The pull rod device 800 of the present disclosure comprises a left pull rod assembly 810, a right pull rod assembly 820, a handle assembly 830, a handle assembly 840, a first left rotating member 850 and a first right rotating member 860.

[0120] The left pull rod assembly 810 and the right pull rod assembly 820 of the present disclosure have the same structure. The structure of the left pull rod assembly 810 and the right pull rod assembly 820 of the present disclosure will be described below by taking the left pull rod assembly as an example.

[0121] The two ends of the handle assembly 830 are arranged at the upper ends of the left pull rod assembly 810 and the right pull rod assembly 820. Specifically, the left pull rod assembly 810 comprises a first left pull rod 811 and an i-th left pull rod, the upper end of the first left pull rod 811 is fixed to the handle assembly 830, thereby being able to pull out the first left pull rod 811 from the second left pull rod when operating the handle assembly 830 (at this time i is equal to 2), wherein i is an integer greater than or equal to 2.

[0122] The lower end of the first left pull rod 811 is provided with a first left locking assembly 812, which can be driven and unlocked by a first left driving member 870.

[0123] Specifically, the first left locking assembly 812 comprises a first left fixed seat 812A, a first left force applying member 812B and a first left locking member 812C and the like.

[0124] The first left fixed seat 812A is fixed to the lower end of the first left pull rod 811, the first left locking member 812C is slidably arranged in the first left fixed seat 812A, and the movement direction of the first left fixed seat 812A is perpendicular to the length direction of the first left pull rod 811.

[0125] The first left force-applying member 812B can be connected to the first left drive member 870 to drive the first left force-applying member 812B to move downwards; the first left locking member 812C is configured to engage with the inclined surface of the first left force-applying member 812B, so that when the first left force-applying member 812B moves downwards, the first left force-applying member 812B can drive the first left locking member 812C, and cause the first left locking member 812C to move in a direction perpendicular to the length of the first left pull rod 811. Figure 13 (as shown in the rightward movement), the portion of the first left locking member 812C that protrudes to the outer end of the first left lever 811 can retract into the interior of the first left lever 811, thereby enabling the first left lever 811 to move relative to the second left lever in the length direction.

[0126] When the first left lever moves to the preset position relative to the second left lever, the handle assembly 840 can be released. At this time, under the action of the elastic restoring force, the first left locking member 812C will reset, that is, along... Figure 13 As shown, when the movement is to the left, at least a portion of the first left locking member 812C can be inserted into the hole in the side wall of the second left pull rod, thereby fixing the relative position of the first left pull rod and the second left pull rod.

[0127] Similarly, the lower end of the i-th left lever 813 is provided with the i-th left locking component 814, which can be driven and unlocked by the (i-1)-th left locking component.

[0128] Specifically, the i-th left locking component 814 includes structures such as the i-th left fixing seat 814A, the i-th left force application member 814B, and the i-th left locking member 814C.

[0129] The i-th left fixed seat 814A is fixed to the lower end of the i-th left pull rod 813, the i-th left locking member 814C is slidably disposed on the i-th left fixed seat 814A, and the movement direction of the i-th left fixed seat 814A is perpendicular to the length direction of the i-th left pull rod 813 (i.e., Figure 14 (As shown, to the left).

[0130] When the left pull rod assembly is in the retracted state, such as Figure 13 As shown, the (i-1)th left locking component will be tightly connected to the i-th left locking component 814, so that the i-th left force-applying component 814B is driven by the (i-1)th left locking component to the maximum position in the downward direction. At this time, the i-th left locking component 814C will move to the maximum position in the left direction. The left end of the i-th left force-applying component 814B will be inserted into the through hole of the (i+1)th left pull rod (e.g., the housing), thereby restricting the position of the i-th left pull rod 813.

[0131] When the i-1th left pull rod is pulled out, the i-1th left locking assembly will release the i th left locking assembly 814. Under the restoring force of the spring and other restoring elements, the i th left locking element 814C will move rightward, so that the i th left pull rod 813 can slide relative to the i+1th left pull rod. In this way, the i th left pull rod 813 can be pulled out.

[0132] When the i th left pull rod 813 moves relative to the i+1th left pull rod to a preset position, under the restoring force of the spring and other restoring elements, the right end of the i th left locking element 814C will be inserted into the hole in the side wall of the i+1th left pull rod, so that the relative positions of the i th left pull rod 813 and the i+1th left pull rod are fixed.

[0133] The handle assembly 840 is rotatably arranged on the handle assembly 830. Specifically, the rotation axis of the handle assembly 840 can be parallel to the direction of the line connecting the upper ends of the left pull rod assembly and the right pull rod assembly.

[0134] The first left rotating element 850 can be driven and rotated by the handle assembly 840. The first right rotating element 860 can be driven and rotated by the handle assembly 840. When the first left rotating element 850 rotates, the first left rotating element 850 drives the first left driving element 870 to move downward. When the first right rotating element 860 rotates, the first right rotating element 860 drives the first right driving element 880 to move downward.

[0135] Specifically, the handle assembly 840 includes a rotating shaft part 841 and an operating part 842. The rotating shaft part 841 is rotatably supported in the handle assembly 830. The operating part 842 is connected to the rotating shaft part 841 and is configured to rotate the rotating shaft part 841 by applying a force to the operating part 842.

[0136] One end of the rotating shaft part 841 of the handle assembly 840 is connected to the first left universal joint 801. The first left universal joint 801 is further connected to one end of the first left transmission shaft 802. The other end of the first left transmission shaft 802 is connected to the second left universal joint 803. The second left universal joint 803 is further connected to the second left transmission shaft 804. The first left rotating element 850 is fixed to the second left transmission shaft 804. The second left transmission shaft 804 is rotatably supported on the handle assembly 830 by the first left support seat.

[0137] One end of the rotating shaft part 841 of the handle assembly 840 is connected to the first right universal joint 805. The first right universal joint 805 is further connected to one end of the first right transmission shaft 806. The other end of the first right transmission shaft 806 is connected to the second right universal joint 807. The second right universal joint 807 is further connected to the second right transmission shaft 808. The first right rotating element 860 is fixed to the second right transmission shaft 808. The second right transmission shaft 808 is rotatably supported on the handle assembly 830 by the first right support seat.

[0138] The handle assembly of the present disclosure is formed into a curved structure in order to match the external shape of the industrial design, and needs to be provided with an electrical operation button on the pull rod device. The present disclosure realizes rotation unlocking through the operation part (paddle) structure, so that single-handed operation unlocking can be realized and the electrical operation button is not affected. In addition, the unlocking action is transmitted through the transmission shaft and the universal joint, so that the handle assembly can be made into any shape, even a special shape for matching the overall cleaning robot shape, without affecting the realization of the unlocking action.

[0139] In the description of the present specification, the description of the terms "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments / ways or examples. In addition, the person skilled in the art can combine and combine the different embodiments / ways or examples described in the present specification and the features of the different embodiments / ways or examples, without contradiction.

[0140] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0141] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. Other changes or modifications can be made on the basis of the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A braking device for a cleaning robot, the cleaning robot including wheels; characterized in that, include: Brake pads are fixedly connected to the driving wheel; wherein, the outer peripheral surface of the brake pads has multiple grooves. A drive device for driving a shaft component to move such that the shaft component can approach or move away from the brake pad, wherein when the shaft component approaches the brake pad, at least a portion of the shaft component can be located within the groove.

2. The braking device according to claim 1, characterized in that, Also includes: A guide component having a guide hole, wherein the shaft component is slidably disposed within the guide hole.

3. The braking device according to claim 1, characterized in that, The shaft component moves in a direction perpendicular to the axis of the brake pad.

4. The braking device according to claim 1, characterized in that, The plurality of grooves are evenly distributed along the circumference of the brake pad.

5. The braking device according to claim 1, characterized in that, The groove is formed as an arc-shaped groove.

6. The braking device according to claim 1, characterized in that, The number of grooves is 10-20.

7. A cleaning robot, characterized in that, The braking device includes any one of claims 1-6, wherein the cleaning robot includes a walking wheel, and the brake pads of the braking device are fixedly connected to the walking wheel.

8. The cleaning robot according to claim 7, characterized in that, Also includes: A housing assembly, wherein the wheels are rotatably disposed on the housing assembly.

9. The cleaning robot according to claim 8, characterized in that, Also includes: A pull rod device, which is fixed to the housing assembly.

10. The cleaning robot according to claim 9, characterized in that, The pull rod device includes: A left pull rod assembly and a right pull rod assembly, the lower ends of which are both fixed to the housing assembly; A handle assembly, the two ends of which are disposed at the upper ends of the left pull rod assembly and the right pull rod assembly; A handle assembly, the handle assembly being rotatably disposed on the grip assembly; A first left-hand rotating member, the first left-hand rotating member being driven and rotated by a handle assembly; and A first right-hand rotating member, which can be driven and rotated by the handle assembly; Specifically, when the first left-hand rotating member rotates, it drives the first left-hand driving member to move downward; when the first right-hand rotating member rotates, it drives the first right-hand driving member to move downward.

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