Cleaning robot

Abstract

The utility model relates to the field of robots, in particular to a cleaning robot which comprises a robot body and two crawler wheel assemblies arranged on the two opposite sides of the robot body, each crawler wheel assembly comprises at least two walking wheels and a crawler belt, and the crawler belts are arranged on the peripheries of the at least two walking wheels in a sleeving mode. The crawler belt comprises a crawler belt body and a plurality of crawler belt protrusions arranged on the outer surface of the crawler belt body, at least one crawler belt protrusion can be inserted into a gap of a walking face when the cleaning robot walks, and therefore friction force or clamping force between the crawler belt and the walking face is increased when the cleaning robot walks, and especially in the wall climbing process of the cleaning robot, the friction force or the clamping force between the crawler belt and the walking face is increased. According to the cleaning robot, at least one track protrusion on the track is inserted into the gap of the wall surface, the walking friction force or the walking occlusal force between the track and the wall surface is increased, and therefore the cleaning robot can walk on the wall surface more stably, and particularly the cleaning robot is not prone to slipping when climbing the wall.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a cleaning robot. BACKGROUND

[0002] In the process of walking or cleaning, especially in the process of climbing a wall, if the friction between the track of the cleaning robot and the wall surface is insufficient, it is easy to cause the robot to be difficult to successfully climb the wall surface by relying on the traction of the track, thereby affecting the cleaning effect and work efficiency. Based on this, how to improve the friction between the walking surface in the process of walking or cleaning, and thereby improve the cleaning effect and work efficiency, becomes a technical problem to be solved. CONTENT OF THE UTILITY MODEL

[0003] Based on the above problems, the present application provides a cleaning robot for improving the friction between the walking surface in the process of walking or cleaning, and thereby improving the cleaning effect and work efficiency.

[0004] The present application provides a cleaning robot, comprising:

[0005] a main body of a machine body;

[0006] two groups of track wheel assemblies, the two groups of track wheel assemblies being respectively arranged on opposite sides of the main body of the machine body; each group of the track wheel assemblies comprises at least two walking wheels and a track, the track being sleeved on the outer periphery of the at least two walking wheels, the track comprising a track body and a plurality of track protrusions arranged on the outer surface of the track body, at least one of the track protrusions being capable of being inserted into a gap of a walking surface when the cleaning robot is walking.

[0007] The cleaning robot provided by the present application comprises a main body of a machine body and two groups of track wheel assemblies arranged on opposite sides of the main body of the machine body, each group of track wheel assemblies comprises at least two walking wheels and a track, the track is sleeved on the outer periphery of the at least two walking wheels, the track comprises a track body and a plurality of track protrusions arranged on the outer surface of the track body, at least one of the track protrusions is capable of being inserted into a gap of a walking surface when the cleaning robot is walking, thereby increasing the friction or engagement force between the track and the walking surface when the cleaning robot is walking, especially in the process of climbing a wall, at least one track protrusion on the track is inserted into a gap of the wall surface, the walking friction or walking engagement force between the track and the wall surface is increased, so that the cleaning robot can walk more stably on the wall surface, especially not easy to slip when climbing the wall.

[0008] In an optional embodiment, one end of the track protrusion away from the track body is a protruding end, and the size of the protruding end in the direction of travel of the cleaning robot is L1, wherein 0.8mm≤L1≤2mm.

[0009] In an optional embodiment, the distance between the centers of two adjacent protrusions in the cross section of the track is L2, wherein 10mm≤L2≤18mm.

[0010] In an optional embodiment, the track further comprises a reinforcing portion, which is arranged on one side or both sides of the protrusions in the direction of travel of the cleaning robot.

[0011] In an optional embodiment, the distance between the end of the protrusion away from the track body and the outer surface of the track body is a first distance, the distance between the end of the reinforcing portion away from the track body and the outer surface of the track body is a second distance, the first distance is greater than the second distance, and the difference between the first distance and the second distance is L3, wherein 0.5mm≤L3≤2mm.

[0012] In an optional embodiment, the protrusions extend in the width direction of the track body, and the size of the protrusions in the extending direction is the width size of the track body; and / or,

[0013] The reinforcing portion extends in the width direction of the track body, and the size of the reinforcing portion in the extending direction is less than or equal to the width size of the track body.

[0014] In an optional embodiment, the protrusions have two ends in the thickness direction of the track body, which are a connecting end and a protruding end respectively, the connecting end is connected to the outer surface of the track body or is an integral structure with the track body;

[0015] The end surface of the protruding end comprises a flat surface; and / or,

[0016] The size of the protruding end in the direction of travel of the cleaning robot is less than the size of the connecting end in the direction of travel of the cleaning robot; and / or,

[0017] In the direction from the protruding end to the connecting end, the size of the protrusion in the direction of travel of the cleaning robot gradually increases.

[0018] In an optional embodiment, the cleaning robot further comprises a garbage collection assembly, and the garbage collection assembly has a garbage port;

[0019] The space surrounded by the outer surface of the track body and two adjacent protrusions forms a flow channel, and a plurality of flow channels are in communication with the garbage port.

[0020] In an alternative embodiment, the track further comprises a plurality of arc-shaped teeth arranged on the inner surface of the track body, and the outer circumferential surface of the walking wheel is provided with a plurality of arc-shaped grooves, the arc-shaped teeth being engaged with the arc-shaped grooves of the walking wheel; or, the track further comprises a plurality of arc-shaped grooves arranged on the inner surface of the track body, and the outer circumferential surface of the walking wheel is provided with a plurality of arc-shaped teeth, the arc-shaped teeth being engaged with the arc-shaped grooves of the track body.

[0021] In an alternative embodiment, the track further comprises at least one limiting protrusion arranged on the inner surface of the track body, and the outer circumferential surface of the walking wheel is provided with a limiting groove, the at least one limiting protrusion being arranged in the limiting groove, the limiting groove of the walking wheel being used for limiting and / or guiding the track in the arrangement direction of the two groups of track wheel assemblies; and / or, the outer circumferential surface of the walking wheel is provided with at least one limiting protrusion, and the inner surface of the track body is provided with a limiting groove, the at least one limiting protrusion being arranged in the limiting groove, the limiting protrusion of the walking wheel being used for limiting and / or guiding the track in the arrangement direction of the two groups of track wheel assemblies.

[0022] In an alternative embodiment, the cleaning robot further comprises:

[0023] A garbage collection assembly having a garbage port;

[0024] A cleaning roller brush assembly rotatably arranged at the first end of the main body and opposite to the garbage port, the cleaning roller brush assembly being rotated to bring garbage into the garbage collection assembly through the garbage port, the cleaning roller brush assembly being interlocked with the track wheel assembly;

[0025] A water pump, the water outlet of the water pump being located at the top of the main body. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced as follows.

[0027] Figure 1 is a partial structural schematic diagram of a cleaning robot provided by the embodiments of the present application;

[0028] Figure 2 is a perspective view of a track provided by the embodiments of the present application;

[0029] Figure 3 is Figure 2 an enlarged schematic diagram of region A in FIG. Figure 1 ;

[0030] Figure 4 is a side view of a track provided by the embodiments of the present application;

[0031] Figure 5 is Figure 4 Enlarged view of B region in FIG. 6 Figure 1 ;

[0032] Figure 6 is Figure 4 Enlarged view of C region in FIG. 6 Figure 1 ;

[0033] Figure 7 is Figure 4 Enlarged view of C region in FIG. 6 Figure 2 ;

[0034] Figure 8 is Figure 4 Enlarged view of D region in FIG. 6 Figure 1 ;

[0035] Figure 9 is Figure 4 Enlarged view of B region in FIG. 6 Figure 2 ;

[0036] Figure 10 is Figure 4 Enlarged view of D region in FIG. 6 Figure 2 ;

[0037] Figure 11 is Figure 4 Enlarged view of D region in FIG. 6 Figure 3 ;

[0038] Figure 12 is Figure 2 Enlarged view of A region in FIG. 6 Figure 2 ;

[0039] Figure 13 is a cross-sectional view of a cleaning robot along a length direction according to an embodiment of the present application;

[0040] Figure 14 is Figure 2 Enlarged view of E region in FIG. 6

[0041] Figure 15 is an exploded structural view of a track and a walking wheel according to an embodiment of the present application;

[0042] Figure 16 is a cross-sectional view of a cleaning robot along a width direction according to an embodiment of the present application;

[0043] Figure 17 is Figure 16 Enlarged view of F region in FIG. 6

[0044] BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The cleaning robot 100; the body main body 10; the track wheel assembly 20; the first end 10a; the second end 10b; the walking wheel 21; the track 22; the track body 221; the track protrusion 222; the protruding end 2221; the first reinforcing part 23; the first side wall 2222; the second side wall 2223; the second reinforcing part 24; the connecting end 2224; The garbage collection assembly 30; the garbage port 31; the flow channel 22a; the arc-shaped tooth 224; the arc-shaped groove 225; the limiting groove 227; the limiting block 226; the cleaning roller brush assembly 50. DETAILED DESCRIPTION

[0046] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the embodiments described in the present application are only part of the embodiments, not all the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0047] In the present application, "embodiment" means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent or alternative to other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments.

[0048] The terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, not to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example: the assembly or device including one or more components is not limited to the listed one or more components, but can optionally include one or more components not listed but inherent to the product exemplified, or one or more components based on the described function.

[0049] Please refer to Figure 1 , Figure 1 A cleaning robot 100 is provided for the embodiments of the present application. The cleaning robot 100 comprises a body main body 10, two groups of track wheel assemblies 20.

[0050] Please refer to Figure 1 , the body main body 10 has opposite first end 10a and second end 10b.

[0051] Specifically, the first end 10a and the second end 10b of the body 10 are respectively a front end and a rear end arranged oppositely along the advancing direction D1. The advancing direction D1 refers to the advancing direction of the body 10 during cleaning. The advancing direction is indicated by D1 in the drawings. The front end of the body 10 refers to one end of the advancing direction of the cleaning robot 100 during water surface cleaning. The rear end of the body 10 refers to one end arranged oppositely to the front end.

[0052] The two sets of track wheel assemblies 20 are arranged respectively on opposite sides of the body 10 in the width direction of the body 10. For ease of description, the advancing direction of the body 10 is defined as the length direction (i.e., the front-rear direction). The two sets of track wheel assemblies 20 are arranged respectively on opposite sides of the body 10 in the width direction of the body 10.

[0053] The structure of one set of track wheel assemblies 20 is described below. The structure of the other set of track wheel assemblies 20 can be understood with reference to the following description.

[0054] Referring to Figure 1 Each set of track wheel assemblies 20 includes at least two walking wheels 21 and a track 22. In this embodiment, two sets of walking wheels 21 are taken as an example. Of course, in other embodiments, the number of walking wheels 21 can be more than two. The two walking wheels 21 are arranged spaced apart along the length direction of the body 10.

[0055] The track 22 surrounds and is sleeved on the outer periphery of the at least two sets of walking wheels 21. Further, the inner surface of the track 22 is tightly attached to or engaged with (or meshed with) the outer surface of the walking wheels 21. In this way, when the two sets of walking wheels 21 rotate synchronously, the track 22 is driven to rotate.

[0056] Referring to Figures 2 to 5 The track 22 includes a track body 221 and a plurality of track protrusions 222 arranged on the outer surface of the track body 221.

[0057] Optionally, the track body 221 is in the shape of a ring. The two sets of walking wheels 21 arranged spaced apart support the track body 221 and make the track body 221 in a tensioned state.

[0058] The number of track protrusions 222 is not limited in this application. Optionally, the plurality of track protrusions 222 are arranged around the outer periphery of the track body 221 in the shape of a ring. Each two adjacent track protrusions 222 are arranged spaced apart. Each two adjacent track protrusions 222 can be arranged at equal intervals or at unequal intervals.

[0059] At least one of the track protrusions 222 can be inserted into the gap of the walking surface when the cleaning robot 100 is walking. In other words, the width of the track protrusion 222 in the direction of travel is small, so as to be inserted into the gap of the walking surface and engaged with the protrusion of the walking surface when the track wheel assembly 20 is walking, so as to avoid the problem of slipping of the track wheel assembly 20 and the like.

[0060] Specifically, when the cleaning robot 100 is walking on the walking surface, the lower part (first track 22 part) of the track 22 located below the two walking wheels 21 contacts the walking surface, and at least one track protrusion 222 on the first track 22 part is inserted into the gap of the walking surface when the track wheel assembly 20 is walking, thereby increasing the friction or engagement force between the track 22 and the walking surface, and facilitating the cleaning robot 100 to walk more stably on the walking surface.

[0061] In the general art, the friction between the track 22 of the cleaning robot 100 and the walking surface is insufficient, which easily leads to insufficient forward traction of the cleaning robot 100. Especially when the cleaning robot 100 is performing wall climbing operation, the track 22 cannot generate sufficient friction on the wall surface, which makes it difficult for the cleaning robot 100 to successfully climb the wall surface relying on the traction of the track 22, thereby affecting the cleaning effect and operation efficiency. The existence of this problem limits the improvement of the performance of the existing cleaning robot 100 in the wall climbing process, especially when cleaning the pool wall surface and water line, the problem of insufficient wall climbing ability is particularly prominent. Therefore, how to design a structure that can effectively increase the friction between the track 22 and the walking surface has become a key technical challenge to improve the wall climbing ability of the cleaning robot 100.

[0062] The cleaning robot 100 provided in the application comprises a body 10 and two sets of track wheel assemblies 20 arranged on opposite sides of the body 10. Each set of track wheel assemblies 20 comprises at least two walking wheels 21 and a track 22. The track 22 is arranged on the outer periphery of the at least two walking wheels 21. The track 22 comprises a track body 221 and a plurality of track protrusions 222 arranged on the outer surface of the track body 221. At least one track protrusion 222 can be inserted into the gap of the walking surface when the cleaning robot 100 is walking, thereby increasing the friction or engagement force between the track 22 and the walking surface when the cleaning robot 100 is walking. In particular, during the wall climbing process of the cleaning robot 100, at least one track protrusion 222 on the track 22 is inserted into the gap of the wall surface. For the case that the walking surface of the cleaning robot 100 has a concave-convex structure or the walking surface has a plurality of gap slots, for example, the walking surface and the wall surface of the cleaning robot 100 are ceramic tile joint surfaces, and there is a small interval between adjacent ceramic tiles, forming a ceramic tile gap. At least one track protrusion 222 of the track 22 in the application can be inserted into the ceramic tile gap when the track wheel assembly 20 is walking, thereby increasing the walking friction or engagement force between the track 22 and the wall surface, improving the traction of the cleaning robot 100 when walking, so that the cleaning robot 100 can walk more stably on the wall surface, especially not easy to slip when climbing the wall, and can also improve its working ability on the wall surface, improve the cleaning effect and working efficiency.

[0063] In an alternative embodiment, referring to Figure 6 , the surface of the ceramic tile gap N1 is flush with the surface of the ceramic tile N2. Since the material of the filling material in the ceramic tile gap N1 is different from the material of the ceramic tile N2, the friction between the track protrusion 222 and the surface of the ceramic tile gap N1 is greater than the friction between the track protrusion 222 and the surface of the ceramic tile N2. Therefore, the protruding end of the track protrusion 222 is in contact with the surface of the ceramic tile gap N1 and has a certain contact pressure, so as to increase the friction between the track protrusion 222 and the wall surface. The track 22 has a plurality of track protrusions 222. When climbing the wall, the plurality of track protrusions 222 are in contact with the surface of the ceramic tile gap N1 and have a certain contact pressure, so as to increase the friction between the entire track 22 and the wall surface, thereby improving the traction of the cleaning robot 100 when climbing the wall.

[0064] In an alternative embodiment, referring to Figure 7, the surface of the tile gap N1 is concave relative to the surface of the tile N2, and a gap groove is formed between the two adjacent tiles N2. The width of the track protrusion 222 in the forward direction is small, so the track protrusion 222 can be inserted into the gap groove. During the movement (wall climbing) of the cleaning robot 100, on the one hand, a plurality of track protrusions 222 are respectively inserted into a plurality of gap grooves, forming a plurality of mutually engaged structures, thereby increasing the engagement force between the track 22 and the moving surface, thereby preventing the cleaning robot 100 from slipping; on the other hand, when a plurality of track protrusions 222 respectively contact the groove bottom surface of a plurality of gap grooves, because the material of the filling material in the tile gap N1 is different from the material of the tile N2, the friction between the protruding end of the track protrusion 222 and the surface of the tile gap N1 (the groove bottom surface of the gap groove) is greater than the friction between the track protrusion 222 and the surface of the tile N2., so that the protruding end of the track protrusion 222 contacts the surface of the tile gap N1 (the groove bottom surface of the gap groove) with a certain contact pressure, thereby increasing the friction between the track protrusion 222 and the wall surface, thereby increasing the traction of the cleaning robot 100 when climbing the wall.

[0065] Optionally, please refer to Figure 8 , one end of the track protrusion 222 away from the track body 221 is the protruding end 2221. The size of the protruding end 2221 in the moving direction of the cleaning robot 100 is small, so that the protruding end 2221 of the track protrusion 222 can be inserted or clamped into the gap of the walking surface (or wall surface) during the walking process of the walking surface (or wall surface)., Especially when climbing the wall, increase the walking friction and engagement force between the track protrusion 222 and the wall surface, effectively prevent the cleaning robot 100 from slipping or sliding down.

[0066] For example, the size of the protruding end 2221 in the moving direction of the cleaning robot 100 is L1. Wherein, 0.8mm≤L1≤2mm. If the size of the protruding end 2221 in the moving direction of the cleaning robot 100 is too small, for example, less than 0.8mm, at this time, it may cause the track protrusion 222 to be too thin and not strong enough, and prone to deformation or damage when subjected to external pressure and friction. If the size of the protruding end 2221 in the moving direction of the cleaning robot 100 is too large, for example, greater than 2mm, at this time, it may cause the track protrusion 222 to be too wide, and the width of the track protrusion 222 is greater than the tile gap, thereby the track protrusion 222 is not easy to insert into the tile gap, and the track 22 and the tile surface cannot form an engagement force.

[0067] In this embodiment, the width of the protruding end 2221 of the track protrusion 222 is designed to be 0.8mm≤L1≤2mm, for example, one of 0.8mm, 0.9mm, 1mm, 1.1mm, 1.2mm, 1.3mm, 1.4mm, 1.5mm, 1.6mm, 1.7mm, 1.8mm, 1.9mm, 2mm or any value between any two of them. On the one hand, the track protrusion 222 has a certain strength so as not to be deformed or damaged when subjected to external pressure and friction; on the other hand, the width of the protruding end 2221 of the track protrusion 222 is less than the gap width of the walking surface (for example, the tile gap width), so that when the cleaning robot 100 walks, the track protrusion 222 can be engaged in the gap (for example, the tile gap) of the walking surface, effectively increasing the friction between the track 22 and the walking surface, so that the cleaning robot 100 can more stably walk on the pool surface or the wall surface, preventing the phenomenon of slipping due to insufficient friction when climbing the wall. Especially when climbing the wall, increasing the walking friction and engagement force between the track protrusion 222 and the wall surface effectively prevents the cleaning robot 100 from slipping or sliding down, and improves its working ability on the wall surface.

[0068] Optionally, please refer to Figure 9 In the cross section of the track 22, the distance between the center positions of two adjacent track protrusions 222 is L2. Wherein, 10mm≤L2≤18mm. Wherein, the cross section of the track 22 refers to the annular cross section formed in the direction of travel and the height direction.

[0069] The distance between the center positions of two adjacent track protrusions 222 is also the distance between the center points of two adjacent protruding ends 2221.

[0070] For example, the distance between the center positions of two adjacent protrusions 222 is L2. 10mm≤L2≤18mm. When the middle protrusion 222 is about to be inserted into the walking surface gap (for example, the tile gap), the left and right protrusions 222 contact the two sides of the walking surface gap (for example, the two tiles on both sides of the tile gap). If the distance between the center positions of two adjacent protrusions 222 is too small, for example, less than 10mm, because the left and right protrusions 222 have a certain support strength, the middle protrusion 222 may not be able to be inserted into the walking surface gap (for example, the tile gap) or the size of the middle protrusion 222 inserted into the walking surface gap (for example, the tile gap) is too small, which cannot form a walking engagement force or increase a walking friction force, etc. If the distance between the center positions of two adjacent protrusions 222 is too large, for example, greater than 18mm, the distribution density of the protrusions 222 on the entire track 22 is too small, and the number of protrusions 222 inserted into the walking surface gap (for example, the tile gap) at the same time is too small, and the sum of the friction forces formed is small, which has a small effect on preventing slipping or sliding down.

[0071] In the present embodiment, the distance between the center positions of two adjacent protrusions 222 is designed to be 10mm≤L2≤18mm, for example, one of 10mm, 11mm, 12mm, 13mm, 14mm, 15mm, 16mm, 17mm, 18mm or any value between any two of them. On the one hand, the middle protrusion 222 is about to be inserted into the walking surface gap (for example, the tile gap), and the left and right protrusions 222 contact the two sides of the walking surface gap (for example, the two tiles on both sides of the tile gap). The middle protrusion 222 can also be inserted into the gap to a certain depth, or fully contact the bottom surface of the gap, or form a good contact pressure between the bottom surface of the gap, with the support of the left and right protrusions 222, to increase the walking friction force and the walking engagement force. On the other hand, the distribution density of the protrusions 222 on the entire track 22 is relatively dense, and the number of protrusions 222 inserted into the walking surface gap (for example, the tile gap) at the same time is relatively large, thereby increasing the overall friction force and effectively preventing slipping or sliding down, and improving the traction force of forward movement.

[0072] Optionally, the track protrusion 222 and the track body 221 can be an integrally formed structure. For example, the track protrusion 222 and the track body 221 can be formed by injection molding, mold forming, 3D printing, etc. Further optionally, the track protrusion 222 and the track body 221 can be made of the same material. Further optionally, the track protrusion 222 and the track body 221 can be made of different materials. For example, the rigidity of the track protrusion 222 is greater than that of the track body 221, so that when the track protrusion 222 is inserted into the walking surface gap (such as the tile gap), the track protrusion 222 is not easily deformed, thereby providing better anti-skid engagement force and friction, etc.

[0073] Optionally, referring to Figure 10 , the track 22 further comprises a first reinforcing portion 23. The first reinforcing portion 23 is arranged on one side or both sides of the track protrusion 222 along the direction of travel of the cleaning robot 100.

[0074] Specifically, the track protrusion 222 is in the shape of a long strip and is arranged to extend along the width direction of the track 22 (the width direction of the cleaning robot 100).

[0075] Optionally, referring to Figure 10 , the track protrusion 222 has a first side wall 2222 and a second side wall 2223 arranged opposite to each other along the direction of travel of the cleaning robot 100, and the first reinforcing portion 23 can be attached to the first side wall 2222 and / or the second side wall 2223. Since the track protrusion 222 mainly receives the force parallel or approximately parallel to the direction of travel of the cleaning robot 100 from the wall of the walking surface gap (such as the tile gap) during the process of being inserted into and out of the walking surface gap (such as the tile gap), on the one hand, the first reinforcing portion 23 increases the thickness of the track protrusion 222 along the direction of travel of the cleaning robot 100, avoiding deformation of the track protrusion 222 during the process of being inserted into and out of the walking surface gap (such as the tile gap), thereby providing better anti-skid engagement force and friction, etc. On the other hand, the reinforcing portion can enhance the structural strength of the track protrusion 222, ensuring that it will not deform or be damaged when subjected to external pressure and friction. The reinforcing portion not only improves the stability and durability of the track protrusion 222, but also effectively disperses external forces, improving the pressure resistance of the overall structure. Through this design, not only can the long-term reliability of the track protrusion 222 during use be ensured, but also the excellent performance of the track 22 system can be continuously maintained under high load or complex working conditions, ensuring the efficient operation and safety of the equipment.

[0076] Further optionally, the first reinforcing portion 23 is arranged on the first side wall 2222 and the second side wall 2223 of each track protrusion 222. On one hand, the first reinforcing portion 23 arranged on the two sides of the track protrusion 222 can further enhance the structural strength of the track protrusion 222 along the running direction. On the other hand, the first reinforcing portion 23 arranged on the two sides of the track protrusion 222 can protect the track protrusion 222 during the process of being inserted into or out of the walking surface gap (for example, the tile gap).

[0077] Optionally, referring to Figure 11 , the distance between the end (the aforementioned protruding end 2221) of the track protrusion 222 away from the track body 221 and the outer surface of the track body 221 is a first distance H1. The distance between the end of the first reinforcing portion 23 away from the track body 221 and the outer surface of the track body 221 is a second distance H2. The first distance H1 is greater than the second distance H2. In other words, the protruding end 2221 of the track protrusion 222 protrudes out of the first reinforcing portion 23. The first reinforcing portion 23 exposes the protruding end 2221 of the track protrusion 222, so that the protruding end 2221 of the track protrusion 222 can be engaged in the walking surface gap (for example, the tile gap).

[0078] Further optionally, referring to Figure 11 , the difference between the first distance H1 and the second distance H2 is L3. Wherein, 0.5mm≤L3≤2mm. If the difference between the first distance H1 and the second distance H2 is too large, it may cause too much part of the track protrusion 222 to protrude out of the first reinforcing portion 23, too small area of the first reinforcing portion 23 to fit on the track protrusion 222, and insufficient structural strength and protection area of the first reinforcing portion 23 for the track protrusion 222. If the difference between the first distance H1 and the second distance H2 is too small, it may cause too little part of the track protrusion 222 to protrude out of the first reinforcing portion 23, so that the part of the track protrusion 222 protruding out of the first reinforcing portion 23 may not be inserted into the groove bottom surface of the walking surface gap (for example, the tile gap), or the part of the track protrusion 222 protruding out of the first reinforcing portion 23 cannot be in full contact with the groove bottom surface of the gap with a certain contact pressure, resulting in too small bite force or friction force between the track protrusion 222 and the walking surface gap (for example, the tile gap), which is not conducive to preventing slipping or improving traction.

[0079] The embodiment designs the difference between the first distance H1 and the second distance H2 as 0.5mm≤L3≤2mm. For example, any value between one or any two of 0.5mm, 0.6mm, 0.7mm, 0.8mm, 0.9mm, 1mm, 1.1mm, 1.2mm, 1.3mm, 1.4mm, 1.5mm, 1.6mm, 1.7mm, 1.8mm, 1.9mm, 2mm, etc. On the one hand, the first reinforcing part 23 is attached to a relatively large area of the track protrusion 222, and the track protrusion 222 has better structural strength and protection area under the action of the first reinforcing part 23. On the other hand, the part of the track protrusion 222 protruding from the first reinforcing part 23 can be inserted into the gap groove bottom surface, fully contact the walking surface gap (for example, the tile gap) groove bottom surface, and have a certain contact pressure, so as to increase the engagement force or friction force between the track protrusion 222 and the walking surface gap (for example, the tile gap) surface, prevent slipping, or improve traction.

[0080] Optionally, referring to Figure 3 , the track protrusion 222 extends along the width direction of the track body 221. Since the extension direction of the tile gap is generally perpendicular or close to perpendicular to the advancing direction of the cleaning robot 100 during wall climbing, the width direction of the track body 221 is close to the extension direction of the tile gap. The embodiment sets the track protrusion 222 to extend along the width direction of the track body 221, so that the extension direction of the track protrusion 222 is the same as or close to the extension direction of the tile gap, which is beneficial to increasing the size of each track protrusion 222 when it is inserted into the tile gap, thereby improving the engagement force and friction force, and also increasing the structural strength of the track protrusion 222 in the width direction, reducing the deformation of the track protrusion 222 during the process of being inserted into and out of the tile gap, so as to increase the engagement force and friction force.

[0081] In an optional embodiment, referring to Figure 12 , the size of the track protrusion 222 in the extension direction is the width size of the track body 221, in other words, the size of the track protrusion 222 in the extension direction is relatively large, which is beneficial to increasing the size of each track protrusion 222 when it is inserted into the tile gap, thereby improving the engagement force and friction force, and also increasing the structural strength of the track protrusion 222 in the width direction, reducing the deformation of the track protrusion 222 during the process of being inserted into and out of the tile gap, so as to increase the engagement force and friction force.

[0082] In another alternative embodiment, the dimension of the track protrusion 222 in the extending direction is smaller than the width dimension of the track body 221. Further alternatively, in the width direction of the track 22, a plurality of left track protrusions 222 and a plurality of right track protrusions 222 can be divided, and the left track protrusions 222 and the right track protrusions 222 are staggered in the advancing direction. Since the size of the tiles on the walking surface is uncertain, the spacing between adjacent tile gaps is uncertain. The design in this embodiment can increase the probability of the track protrusion 222 being inserted into the tile gap.

[0083] Further, referring to Figure 12 , the first reinforcing portion 23 extends in the width direction of the track body 221. The dimension of the first reinforcing portion 23 in the extending direction is smaller than or equal to the width dimension of the track body 221.

[0084] Alternatively, the dimension of the first reinforcing portion 23 in the extending direction is slightly smaller than the width dimension of the track body 221, so that the first reinforcing portion 23 covers more area of the track protrusion 222 in the extending direction, which is beneficial to increase the structural strength of the track protrusion 222 in the width direction of the track body 221.

[0085] Alternatively, the track protrusion 222 and the first reinforcing portion 23 can be an integral molding structure. For example, the track protrusion 222 and the first reinforcing portion 23 can be molded by injection molding, mold molding, 3D printing, etc. Further alternatively, the track protrusion 222 and the first reinforcing portion 23 can be made of the same material. Further alternatively, the track protrusion 222 and the first reinforcing portion 23 can be made of different materials. For example, the rigidity of the track protrusion 222 is greater than the rigidity of the first reinforcing portion 23, so that when the track protrusion 222 is inserted into the walking surface gap (such as a tile gap), the track protrusion 222 is not easily deformed, thereby providing better anti-skid engagement force and friction force, etc. For another example, the rigidity of the first reinforcing portion 23 can be greater than the rigidity of the track protrusion 222, so that the first reinforcing portion 23 provides stronger structural support to the track protrusion 222 in the advancing direction, reduces the deformation of the track protrusion 222 during the process of being inserted into and out of the walking surface gap (such as a tile gap), and improves the friction force and engagement force.

[0086] Further alternatively, referring to Figure 12 , the track 22 further comprises a second reinforcing portion 24 arranged between two adjacent track protrusions 222, and the second reinforcing portion 24 is arranged on the outer surface of the track body 221, further improving the strength of the track body 221 in the thickness direction. Further alternatively, the second reinforcing portion 24 can be connected between two adjacent first reinforcing portions 23.

[0087] Optionally, the two adjacent first reinforcing portions 23 and second reinforcing portions 24 can be an integral structure, providing stronger structural support to the track protrusions 222 in the direction of travel, reducing deformation of the track protrusions 222 during the process of being inserted into and out of the gap (e.g. tile gap) of the walking surface, and improving friction and biting force.

[0088] Further optionally, the track body 221 and the second reinforcing portion 24 can be an integral structure. For example, the track body 221 and the second reinforcing portion 24 can be formed by injection molding, mold forming, 3D printing, etc. Further optionally, the track body 221 and the second reinforcing portion 24 can be made of the same material. Further optionally, the track body 221 and the second reinforcing portion 24 can be made of different materials.

[0089] Further optionally, the track body 221, the second reinforcing portion 24, the track protrusions 222 and the first reinforcing portions 23 can be made of the same material. The track body 221, the second reinforcing portion 24, the track protrusions 222 and the first reinforcing portions 23 can be an integral structure.

[0090] Optionally, referring to Figure 10 , the two ends of the track protrusions 222 in the thickness direction of the track body 221 are respectively a connecting end 2224 and a protruding end 2221. The connecting end 2224 is connected to the outer surface of the track body 221 or is an integral structure with the track body 221.

[0091] Optionally, the end face of the protruding end 2221 includes a flat surface. In other words, the end face of the protruding end 2221 away from the outer surface of the track body 221 is a flat surface, so as to increase the contact area with the groove bottom surface of the gap when the track protrusions 222 are inserted into the gap, thereby increasing the friction. Of course, in other embodiments, the end face of the protruding end 2221 can also be arc-shaped, wedge-shaped, etc.

[0092] Optionally, referring to Figure 10 , the size L1 of the protruding end 2221 in the direction of travel of the cleaning robot 100 is smaller than the size of the connecting end 2224 in the direction of travel of the cleaning robot 100. Since the connecting end 2224 is one end of the track protrusions 222 connected to the track body 221, by designing the size of the connecting end 2224 in the direction of travel of the cleaning robot 100 to be relatively large, the connection strength between the track protrusions 222 and the track body 221 is increased. By designing the size L1 of the protruding end 2221 in the direction of travel of the cleaning robot 100 to be relatively small, the protruding end 2221 can be inserted into the gap during walking.

[0093] Optionally, referring to Figure 10The dimension of the track protrusion 222 in the direction of travel of the cleaning robot 100 gradually increases from the protruding end 2221 to the connecting end 2224. In other words, in the cross section of the track 22 in the direction of travel and the thickness direction, the track protrusion 222 is substantially trapezoidal. This facilitates the track protrusion 222 entering and exiting the walking surface gap (e.g. the tile gap). If the sidewall of the track protrusion 222 is at a right angle or an acute angle with the outer surface of the track body 221, it can cause the track protrusion 222 to be stuck when entering and exiting the gap.

[0094] Optionally, referring to Figure 13 , the cleaning robot 100 further comprises a garbage collection assembly 30.

[0095] Referring to Figure 13 , the garbage collection assembly 30 has a garbage port 31. The garbage port 31 is directed towards the bottom of the main body 10.

[0096] Referring to Figure 6 and Figure 7 , Figure 13 , the space enclosed by the outer surface of the track body 221 and the adjacent two track protrusions 222 forms a flow channel 22a. A plurality of flow channels 22a are in communication with the garbage port 31.

[0097] Further, referring to Figure 6 and Figure 7 , Figure 13 , the cleaning robot 100 further comprises a water pump (not shown). The water outlet (not shown) of the water pump is located at the top of the main body 10. The water flow channel in the water pump is in communication with the inner cavity of the garbage collection assembly 30 and the garbage port 31. When the water pump is working, the water at the bottom of the main body 10 is sequentially discharged from the water outlet of the water pump through the garbage port 31, the inner cavity of the garbage collection assembly 30, and the water flow channel in the water pump. In this process, a negative pressure is formed at the bottom of the main body 10, which facilitates the water flow on the outside of the track 22 to flow through the plurality of flow channels 22a to the bottom of the main body 10 and to the garbage port 31. In this way, the flow channels 22a can guide the garbage on the outside of the track 22 to flow with the water flow, and the garbage is collected at the garbage port 31 through the flow channels 22a, thereby improving the garbage cleaning efficiency.

[0098] Optionally, referring to Figures 14 to 17 , the track 22 further comprises a plurality of arc-shaped teeth 224 arranged on the inner surface of the track body 221.

[0099] Specifically, the plurality of arc-shaped teeth 224 are arranged on the inner surface of the track body 221 around the center of the track body 221. The arc-shaped teeth 224 are long strips. The arc-shaped teeth 224 extend along the width direction of the track body 221, and the length of the extension direction of the arc-shaped teeth 224 is less than the width of the track body 221. The outer surface of the arc-shaped teeth 224 is a semi-cylindrical surface.

[0100] Referring to Figures 14 to 17 , the outer peripheral surface of the walking wheel 21 is provided with a plurality of arc-shaped grooves 225. The shape of the arc-shaped grooves 225 is matched with the shape of the arc-shaped teeth 224, and the arc-shaped teeth 224 are engaged with the arc-shaped grooves 225 of the walking wheel 21. When the walking wheel 21 rotates under the driving structure, the arc-shaped teeth 224 of the track body 221 are driven to move towards the direction of travel, thereby making the track wheel assembly 20 travel.

[0101] Alternatively, the track 22 further comprises a plurality of arc-shaped grooves 225 arranged on the inner surface of the track body 221. Specifically, the plurality of arc-shaped grooves 225 are arranged on the inner surface of the track body 221 around the center of the track body 221. The arc-shaped grooves 225 are long strips. The arc-shaped grooves 225 extend along the width direction of the track body 221, and the length of the extension direction of the arc-shaped grooves 225 is less than the width of the track body 221. The groove surface of the arc-shaped grooves 225 is a semi-cylindrical surface.

[0102] The outer peripheral surface of the walking wheel 21 is provided with a plurality of arc-shaped teeth 224. The shape of the arc-shaped grooves 225 is matched with the shape of the arc-shaped teeth 224, and the arc-shaped teeth 224 are engaged with the arc-shaped grooves 225 of the inner surface of the track body 221. When the walking wheel 21 rotates under the driving structure, the arc-shaped teeth 224 of the track body 221 are driven to move towards the direction of travel, thereby making the track wheel assembly 20 travel.

[0103] The present embodiment designs the transmission between the track 22 and the walking wheel 21 through the arc-shaped teeth 224. When the arc-shaped teeth 224 are engaged, the contact line is continuous, which helps to reduce the impact and vibration when the gear is engaged, thereby realizing smoother transmission; due to the stable transmission, the noise level of the arc-shaped teeth 224 during operation is relatively low. When the arc-shaped teeth 224 are engaged, the tooth surface contact area is large, which helps to disperse the load and improve the carrying capacity of the gear; the energy loss is small, so the transmission efficiency is high; the tooth surface contact stress is uniformly distributed, which helps to improve the wear resistance of the gear.

[0104] Optionally, referring to Figures 14 to 17 , the track 22 further comprises at least one limiting protrusion 226 arranged on the inner surface of the track body 221. Further, the number of limiting protrusions 226 is a plurality, and the plurality of limiting protrusions 226 are arranged on the inner surface of the track body 221 around the center axis of the track body 221.

[0105] Each of the limiting protrusions 226 can be arranged along the width direction of the track body 221 with an arc-shaped tooth 224.

[0106] Referring to Figures 14 to 17 , the outer circumferential surface of the traveling wheel 21 is provided with a limiting groove 227. The at least one limiting protrusion 226 is arranged in the limiting groove 227. The limiting groove 227 can be an annular groove. As the traveling wheel 21 rotates, the limiting protrusions 226 enter the limiting groove 227 in sequence. The two side walls of the limiting groove 227 in the width direction of the cleaning robot 100 limit the limiting protrusions 226, thereby limiting the track 22 and the traveling wheel 21 in the width direction of the cleaning robot 100.

[0107] The two adjacent limiting protrusions 226 are arranged with a spacing. After the limiting protrusions 226 enter the limiting groove 227, they are close to each other. The two adjacent limiting protrusions 226 are arranged with a spacing to facilitate the limiting protrusions 226 to have enough space to close to each other after entering the limiting groove 227. In addition, in the cross section of the track 22 in the advancing direction and the thickness direction, the limiting protrusions 226 can be trapezoidal to facilitate the limiting protrusions 226 to close to each other after entering the limiting groove 227.

[0108] The limiting groove 227 of the traveling wheel 21 is used to limit (position) and / or guide the track 22 in the arrangement direction of the two groups of track wheel assemblies 20 (i.e. the width direction of the cleaning robot 100), to avoid the track 22 and the traveling wheel 21 to be misaligned in the width direction of the cleaning robot 100 when the cleaning robot 100 turns.

[0109] Alternatively, the outer circumferential surface of the traveling wheel 21 is provided with at least one limiting protrusion 226. The inner surface of the track body 221 is provided with a limiting groove 227. The at least one limiting protrusion 226 is arranged in the limiting groove 227. The limiting protrusion 226 of the traveling wheel 21 is used to limit and / or guide the track 22 in the arrangement direction of the two groups of track wheel assemblies 20.

[0110] The present embodiment can refer to the embodiment in which the inner surface of the track body 221 is provided with a plurality of limiting protrusions 226 and the outer circumferential surface of the traveling wheel 21 is provided with a limiting groove 227.

[0111] Optionally, referring to Figure 13 , the cleaning robot 100 further comprises a cleaning roller brush assembly 50.

[0112] The cleaning roller brush assembly 50 is rotatably arranged at the first end of the main body 10 and opposite to the garbage port 31. The cleaning roller brush assembly 50 rotates to bring garbage into the garbage collection assembly 30 through the garbage port 31.

[0113] Specifically, the cleaning roller brush assembly 50 is rotatably arranged at the front end of the main body 10. The cleaning roller brush assembly 50 and the garbage collecting assembly 30 are arranged in sequence along the front-to-rear direction. The garbage port 31 of the garbage collecting assembly 30 is arranged corresponding to the rotating area of the cleaning roller brush assembly 50. During the rotation of the cleaning roller brush assembly 50, the cleaning roller brush assembly 50 will fluctuate water towards the garbage port 31, and then bring the garbage into the garbage collecting assembly 30.

[0114] The cleaning roller brush assembly 50 and the track wheel assembly 20 are interlinked.

[0115] Specifically, the cleaning robot 100 further comprises a driving device (not shown), which is connected to the walking wheel 21 and used to drive the walking wheel 21 to rotate, thereby driving the track wheel assembly 20 to move forward, backward, turn, etc. Further, the driving device directly or indirectly drives the cleaning roller brush assembly 50 to roll through a gear transmission structure, so that the cleaning roller brush assembly 50 shares the driving device with the track wheel assembly 20, and realizes cleaning garbage when the cleaning robot 100 moves.

[0116] Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present application. Those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application, and these improvements and refinements are also considered as the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises: a main body; and two groups of track wheel assemblies, each group of the track wheel assemblies being arranged on opposite sides of the main body, each group of the track wheel assemblies comprising at least two traveling wheels and a track, the track being sleeved on the outer periphery of the at least two traveling wheels, the track comprising a track body and a plurality of track protrusions arranged on the outer surface of the track body, at least one of the track protrusions being capable of being inserted into a gap of a traveling surface when the cleaning robot travels.

2. The cleaning robot according to claim 1, wherein, An end of the track protrusion away from the track body is a protruding end, and a dimension of the protruding end in the direction of travel of the cleaning robot is L1, where 0.8mm≤L1≤2mm.

3. The cleaning robot according to claim 1, wherein, In a cross section of the track, a distance between the center positions of two adjacent track protrusions is L2, where 10mm≤L2≤18mm.

4. The cleaning robot according to claim 1, wherein, The track further comprises a reinforcing portion arranged on one side or both sides of the track protrusion in the direction of travel of the cleaning robot.

5. The cleaning robot according to claim 4, wherein, A distance between the end of the track protrusion away from the track body and the outer surface of the track body is a first distance, a distance between the end of the reinforcing portion away from the track body and the outer surface of the track body is a second distance, the first distance is greater than the second distance, and a difference between the first distance and the second distance is L3, where 0.5mm≤L3≤2mm.

6. The cleaning robot according to claim 4, wherein, The track protrusion extends in the width direction of the track body, and a dimension of the track protrusion in the extending direction is a width dimension of the track body; and / or The reinforcing portion extends in the width direction of the track body, and a dimension of the reinforcing portion in the extending direction is less than or equal to the width dimension of the track body.

7. The cleaning robot of claim 1, wherein, Two ends of the track protrusion in the thickness direction of the track body are a connecting end and a protruding end, respectively, the connecting end being connected to the outer surface of the track body or being an integral structure with the track body; An end surface of the protruding end comprises a flat surface; and / or A dimension of the protruding end in the direction of travel of the cleaning robot is less than a dimension of the connecting end in the direction of travel of the cleaning robot; and / or In the direction from the protruding end to the connecting end, the dimension of the track protrusion in the direction of travel of the cleaning robot gradually increases.

8. The cleaning robot according to any one of claims 1 to 7, wherein The cleaning robot further comprises a garbage collection assembly having a garbage port; Two adjacent track protrusions and the outer surface of the track body enclose a flow channel, and a plurality of flow channels are in communication with the garbage port.

9. The cleaning robot according to any one of claims 1 to 7, wherein The track further comprises a plurality of arc-shaped teeth arranged on the inner surface of the track body, and the outer surface of the traveling wheel is provided with a plurality of arc-shaped grooves, the arc-shaped teeth being engaged with the arc-shaped grooves of the traveling wheel; or the track further comprises a plurality of arc-shaped grooves arranged on the inner surface of the track body, and the outer surface of the traveling wheel is provided with a plurality of arc-shaped teeth, the arc-shaped teeth being engaged with the arc-shaped grooves of the track body.

10. The cleaning robot according to any one of claims 1 to 7, wherein The track further comprises at least one limiting protrusion provided on the inner surface of the track body, the outer circumferential surface of the walking wheel is provided with a limiting groove, the at least one limiting protrusion is arranged in the limiting groove, and the limiting groove of the walking wheel is used for limiting and / or guiding the track in the arrangement direction of the two groups of track wheel assemblies; and / or the outer circumferential surface of the walking wheel is provided with at least one limiting protrusion, the inner surface of the track body is provided with a limiting groove, the at least one limiting protrusion is arranged in the limiting groove, and the limiting protrusion of the walking wheel is used for limiting and / or guiding the track in the arrangement direction of the two groups of track wheel assemblies.

11. The cleaning robot according to any one of claims 1 to 7, wherein The cleaning robot further comprises: a garbage collection assembly having a garbage port; a cleaning roller brush assembly rotatably arranged at the first end of the main body and opposite to the garbage port, the cleaning roller brush assembly rotates to bring garbage into the garbage collection assembly through the garbage port, the cleaning roller brush assembly is interlocked with the track wheel assembly; a water pump, and a water outlet of the water pump is located at the top of the main body.

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