Walking wheel module and cleaning robot

Abstract

The utility model discloses a walking wheel module and a cleaning robot. The walking wheel module comprises a walking wheel, and the wheel body cleaning parts are in contact with the walking wheels, and the wheel body cleaning parts are used for cleaning the walking wheels. The walking wheels are cleaned through the wheel body cleaning force on the walking wheel module, dust and foreign matter on the walking wheels are prevented from being brought to other positions, the cleaning efficiency and the cleaning effect of the cleaning robot are guaranteed, and the walking wheels can be prevented from slipping.

Description

TECHNICAL FIELD

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

[0002] In the related art, the walking wheel of a cleaning robot can bring up dust and foreign matter on the surface to be cleaned when walking, and the dust and foreign matter on the surface of the walking wheel can be easily brought to other positions on the surface to be cleaned as the walking wheel walks, which requires the cleaning robot to repeat cleaning or results in incomplete cleaning of the cleaning robot, thereby affecting the cleaning efficiency and cleaning effect of the cleaning robot. In addition, the attachment and accumulation of dust, foreign matter and water on the surface of the walking wheel can also easily cause the walking wheel to slip. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the prior art or related art.

[0004] In view of this, the present application provides a walking wheel module and a cleaning robot, wherein the walking wheel is cleaned by a wheel body cleaning part on the walking wheel module, so as to avoid bringing dust and foreign matter on the walking wheel to other positions, ensure the cleaning efficiency and cleaning effect of the cleaning robot, and avoid the walking wheel from slipping.

[0005] Specifically, the technical solutions include the following.

[0006] Embodiments of the first aspect of the present application provide a walking wheel module, which comprises:

[0007] a walking wheel;

[0008] a wheel body cleaning part, which is in contact with the walking wheel and is used to clean the walking wheel.

[0009] Optionally, the wheel body cleaning part comprises a cleaning section, which is arranged on the outer periphery of the walking wheel and is in contact with or interferes with the walking wheel to clean the walking wheel.

[0010] Optionally, in the width direction of the walking wheel, the cleaning section has a size that is adapted to the width of the walking wheel, and the width of the cleaning section is not less than the maximum width of the contact surface of the walking wheel and the surface to be cleaned.

[0011] Optionally, the wheel body cleaning part further comprises a connecting section, which is connected with the cleaning section.

[0012] Optionally, the walking wheel module further comprises a power transmission device, which is used to drive the walking wheel to rotate.

[0013] Optionally, the power transmission device comprises a gear box and a driving part, the driving part is arranged at a first end of the gear box, the walking wheel is arranged at a second end of the gear box, a plurality of gears are arranged in the gear box, the gears comprise at least a first gear and a second gear, the driving part is fixedly connected with the first gear, and the walking wheel is fixedly connected with the second gear through a connecting shaft.

[0014] Optionally, the wheel body cleaning part comprises a connecting section and a cleaning section, and the connecting section is fixedly connected to the power transmission device.

[0015] Optionally, the walking wheel module further comprises:

[0016] An arc-shaped baffle is arranged on the power transmission device, and the arc-shaped baffle is gap-fitted with the walking wheel.

[0017] Optionally, the connecting section is fixed to the arc-shaped baffle, and the cleaning section is arranged at an end of the connecting section away from the arc-shaped baffle; or the connecting section is fixed to a support shaft of the walking wheel, and the cleaning section is arranged at an end of the connecting section away from the support shaft.

[0018] Optionally, in the width direction of the walking wheel, the arc-shaped baffle has a size suitable for the width of the walking wheel.

[0019] Optionally, in the width direction of the walking wheel, a mounting part of the connecting section is arranged at a position opposite to the walking wheel on the arc-shaped baffle.

[0020] Optionally, the mounting part is a fixed column, a mounting cavity or other structures capable of fixing the connecting section.

[0021] Optionally, the cleaning section is made of flexible or elastic material, and the cleaning section and the walking wheel have an intersection in a preset plane.

[0022] The preset plane is arranged perpendicularly to the surface to be cleaned, and the preset plane is parallel to the plane where the walking wheel is arranged.

[0023] Optionally, the cleaning section is a brush, a cleaning cloth or other materials or structures capable of cleaning the walking wheel.

[0024] Optionally, when advancing, the wheel body cleaning part is located on a side of the walking wheel away from the surface to be cleaned in the rotation direction of the walking wheel; and / or

[0025] The wheel body cleaning part is located on a side of the walking wheel into the surface to be cleaned.

[0026] Optionally, the walking wheel module is arranged on a cleaning robot, the cleaning robot comprising a shell, at least part of the wheel body cleaning part being arranged in the shell, the wheel body cleaning part comprising a connecting section and a cleaning section, the connecting section being connected with the shell, and the cleaning section being arranged towards the walking wheel.

[0027] Embodiments of the second aspect of the present application provide a cleaning robot, the cleaning robot comprising:

[0028] a machine body; and

[0029] a walking wheel module as described above, the walking wheel module being arranged on the machine body.

[0030] The walking wheel module and the cleaning robot provided by the embodiments of the present application, wherein the walking wheel module comprises a walking wheel and a wheel body cleaning part, and the walking wheel and the wheel body cleaning part are in contact. That is, the walking wheel and the wheel body cleaning part are in contact with each other, so that when the walking wheel rotates, the wheel body cleaning part can scrape off the dust and foreign matter on the walking wheel under the action of the rotating force, avoiding the walking wheel moving to the next cleaning area with dust and foreign matter, thereby better planning the cleaning path of the cleaning robot, avoiding repeated cleaning, and ensuring the cleaning efficiency of the cleaning robot; at the same time, the dust and foreign matter scraped off on the walking wheel can be adsorbed through the dry cleaning mode, ensuring the cleaning effect of the cleaning mop. It can also avoid the walking wheel from slipping due to impurities and water on the walking wheel, ensuring the normal walking of the walking wheel.

[0031] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following will describe the specific embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0033] Figure 1 a schematic view of a walking wheel module according to the first embodiment of the present application;

[0034] Figure 2 a schematic view of a walking wheel module according to the second embodiment of the present application;

[0035] Figure 3A schematic view of a walking wheel module according to a third embodiment of the present application;

[0036] Figure 4 A schematic view of a walking wheel module according to a fourth embodiment of the present application;

[0037] Figure 5 A schematic view of a cleaning robot according to an embodiment of the present application.

[0038] wherein, Figures 1 to 5 The correspondence between the reference signs and the component names is as follows:

[0039] 100, walking wheel module; 110, wheel body cleaning part; 111, connecting section; 112, cleaning section; 120, walking wheel; 130, gear box; 140, driving part; 150, arc-shaped baffle; 200, cleaning robot; 210, front part; 220, rear part. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0041] Before the embodiments of the present application are described in further detail, the orientation nouns such as “upper part”, “lower part”, “side part” involved in the embodiments of the present application do not have the meaning of limiting the protection scope of the present application.

[0042] In order to make the technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the drawings.

[0043] Figure 5 A schematic view of a cleaning robot according to an example embodiment, as shown in FIG. 2, the cleaning robot 200 can be a vacuum cleaning robot, a mopping / brushing robot, a window climbing robot, etc., and can also be a hand-held washing and drying all-in-one machine (not shown). The cleaning robot 200 can include a moving platform, a perception system, a control system, a driving system, a cleaning system, an energy system, a human-computer interaction system, and a walking wheel module 100. Figure 5

[0044] ​The perception system includes a position determining device on the mobile platform, a collision sensor on the front collision structure of the front portion 111 of the mobile platform, a proximity sensor on the side of the mobile platform, a cliff sensor under the mobile platform, and a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices inside the mobile platform, which provide various position information and motion state information of the cleaning robot 200 to the controller. In addition, the position determining device can also be used to determine the information of the obstacle, such as the height, width, and other size information of the obstacle, to determine whether the cleaning robot 200 can cross. The control system is arranged on the circuit mainboard in the mobile platform, including a computing processor in communication with a non-transitory memory, such as a hard disk, a flash memory, and a random access memory, to draw an instant map of the environment in which the cleaning robot 200 is located. The driving system can manipulate the mobile platform to cross the ground based on driving commands with distance and angle information. The cleaning system can include a dry cleaning system and / or a wet cleaning system. The dry cleaning system can include a roller brush, a dust box, a fan, an air outlet, and the like, to finally adsorb dust and foreign matter on the ground into the dust box. The wet cleaning system can include a wet cleaning element, a lifting unit, a water feeding mechanism, a liquid storage tank, and the like, and the wet cleaning element can achieve cleaning of the plane by uniformly applying cleaning liquid. The energy system includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery, to provide a power source for the cleaning robot. The human-computer interaction module includes keys on the main panel, which are used for the user to select functions; the module can also include a display screen and / or an indicator light and / or a loudspeaker, which show the user the current mode or function selection item of the robot; and the module can also include a mobile phone client program.

[0045] The mobile platform is configured to automatically move along a target direction on a surface to be cleaned. In some embodiments, the cleaning robot 200 can be a mopping robot, and the cleaning robot 200 works on the ground, which is the surface to be cleaned; the cleaning robot 200 can also be a window cleaning robot, and the cleaning robot 200 works on a glass surface, which is the surface to be cleaned; the cleaning robot 200 can also be a pipeline cleaning robot, and the cleaning robot 200 works on the inner surface of a pipeline, which is the surface to be cleaned. The following description in this application takes the mopping robot as an example.

[0046] Exemplarily, the walking wheel module 100 is arranged on the side of the cleaning robot 200 facing the surface to be cleaned, and at least part of the walking wheel module 100 is located outside the shell of the cleaning robot 200. Generally, the cleaning robot 200 can be provided with two, three or four walking wheel modules 100. When the cleaning robot 200 is provided with two walking wheel modules 100, the two walking wheel modules 100 are located between the front portion 111 and the rear portion 112. When the cleaning robot 200 is provided with three walking wheel modules 100, the three walking wheel modules 100 are arranged in a triangular shape under the cleaning robot 200. When the cleaning robot 200 is provided with four walking wheel modules 100, the four walking wheel modules 100 are arranged in a square or rectangular shape under the cleaning robot 200. At this time, two walking wheel modules 200 are arranged close to the front portion 111, and the other two walking wheel modules 100 are arranged close to the rear portion 112. The structure of one walking wheel module 100 is described below.

[0047] As shown in Figures 1 to 4 , one embodiment of the present application provides a walking wheel module 100 for a cleaning robot 200, which drives the moving platform to move on the surface to be cleaned. The walking wheel module 100 comprises:

[0048] a walking wheel 120;

[0049] a wheel body cleaning part 110, which is in contact with the walking wheel 120 and is used to clean the walking wheel 120.

[0050] The walking wheel module 100 comprises the walking wheel 120 and the wheel body cleaning part 110, and ensures that the walking wheel 120 and the wheel body cleaning part 110 are in contact. That is, the walking wheel 120 and at least part of the wheel body cleaning part 110 are in contact with each other. In this way, when the walking wheel 120 rotates, the wheel body cleaning part 110 can scrape off the dust and foreign matter on the walking wheel 120 under the action of the rotating force, so as to avoid the walking wheel 120 moving to the next cleaning area with dust and foreign matter, thereby better planning the cleaning path of the cleaning robot 200, avoiding repeated cleaning, and ensuring the cleaning efficiency of the cleaning robot 200. At the same time, the dry cleaning mode can adsorb the dust and foreign matter scraped off from the walking wheel 120, so as to ensure the cleaning effect of the cleaning robot 200. In addition, the dry cleaning mode can also avoid the slippage of the walking wheel 120 caused by impurities and water on the walking wheel 120, and ensure the normal walking of the walking wheel 120.

[0051] Specifically, a virtual circular ring can be arranged outside the walking wheel 120, and the virtual circular ring is arranged concentrically with the walking wheel 120. Then, the wheel body cleaning part 110 can be arranged at any position on the virtual circular ring, as long as the wheel body cleaning part 110 and the walking wheel 110 are in contact. In this way, during the walking and rotation of the walking wheel 120, the dust and foreign matter brought by the walking wheel 120 can be scraped off by the wheel body cleaning part 110 under the double action of the rotating force and the frictional force of the contact, so as to ensure the cleanliness of the walking wheel 120, avoid the dust and foreign matter on a part of the surface to be cleaned from being brought to the next part of the surface to be cleaned, and thus improve the cleaning effect and cleaning efficiency of the cleaning robot 200, and also avoid the dust, foreign matter and / or liquid on the walking wheel 120 from causing the walking wheel 120 to slip, so as to ensure the normal walking of the walking wheel 120.

[0052] It should be noted that the wheel body cleaning part 110 includes a cleaning section 112, which is arranged on the outer periphery of the walking wheel 120 and interferes with the walking wheel 120 to clean the walking wheel 120. Assuming that the surface to be cleaned is a reference surface, a plane perpendicular to the surface to be cleaned and parallel to the plane in which the walking wheel 120 is arranged is defined as a preset plane. The interference between the cleaning section 112 and the walking wheel 112 means that the projection of the walking wheel 120 and the cleaning section 112 in the preset plane intersects. In this way, the walking wheel 120 is cleaned under the double action of the rotating force and the extrusion force caused by the interference, so as to further improve the cleaning effect of the walking wheel 120.

[0053] For example, in the width direction of the walking wheel 120, the cleaning section 112 has a size suitable for the width of the walking wheel 120. In this application, the size suitable for the width means that the width of the cleaning section 112 is not less than the maximum width of the contact surface between the walking wheel 120 and the surface to be cleaned. That is, the width of the cleaning section 112 should cover the entire width of the contact surface between the walking wheel 120 and the surface to be cleaned when the walking wheel 120 walks. In this way, the comprehensive cleaning of the walking wheel 120 can be realized, and the insufficient cleaning width of the cleaning section 112 can be avoided, so as to avoid the incomplete cleaning of the walking wheel 120 and affect the cleaning effect and the reliability of the walking.

[0054] The wheel body cleaning part 110 further includes a connecting section 111 connected with the cleaning section 112, so that the cleaning section 112 can be fixedly connected with the walking wheel module 100, and the connecting section 111 has a certain supporting effect on the cleaning section 112 to form a supporting force, which cooperates with the interference between the cleaning section 112 and the walking wheel 120 to form a stable extrusion force, so as to ensure the effectiveness and reliability of the cleaning of the cleaning section 112.

[0055] In a possible implementation, the walking wheel module 100 further includes a power transmission device for driving the walking wheel 120 to walk.

[0056] The walking wheel 120 is driven to walk by the power transmission device, the power transmission device provides the walking wheel 120 with a rotating force, the cleaning section 112 interferes with the walking wheel 120 to form a pressing force, and the rotating force and the pressing force are combined to improve the cleaning effect of the cleaning section 112 on the walking wheel 120, so that the walking wheel 120 can avoid bringing dirt to the cleaning completion area and can also avoid slipping.

[0057] It should be noted that the power transmission device comprises a gear box 130 and a driving part 140, the driving part 140 is arranged at a first end of the gear box 130, the walking wheel 120 is arranged at a second end of the gear box 130, a plurality of gears are arranged in the gear box 130, the gears at least comprise a first gear and a second gear, the driving part 140 is fixedly connected with the first gear, and the walking wheel 120 is fixedly connected with the second gear through a connecting shaft.

[0058] A plurality of gears are arranged in the gear box 130, two adjacent gears are meshed with each other, the gears at the two ends of the gear box 130 are respectively the first gear and the second gear, the output shaft of the driving part 140 is fixedly connected with the first gear, and the walking wheel 120 is fixedly connected with the second gear through the connecting shaft. The output shaft of the driving part 140 rotates to drive the first gear to rotate, and then sequentially drives the intermediate gears meshed with each other to rotate, and finally transmits the rotating force to the second gear, drives the walking wheel 120 to rotate through the rotation of the second gear, and achieves the purpose of driving the walking wheel 120 to rotate by the driving part 140.

[0059] It should be noted that when there are only two gears, i.e., the first gear and the second gear, in the gear box 130, the first gear and the second gear are directly meshed, the rotating force of the driving part 140 is transmitted to the walking wheel 120 through the first gear and the second gear, and the rotation of the walking wheel 120 is realized. It can be understood that at least one intermediate gear can be arranged between the first gear and the second gear, the intermediate gears are sequentially meshed, and the intermediate gears are respectively meshed with the first gear and the second gear, so as to ensure the stable transmission of the rotating force of the driving part 140.

[0060] Exemplary, the driving part 140 can also be directly connected with the walking wheel 120, and directly drive the walking wheel 120 to walk. As the cleaning robot is developing towards miniaturization, directly driving the walking wheel 120 by the driving part 140 will increase the size of the cleaning robot 200 in the width direction (the direction perpendicular to the line connecting the front part 210 and the rear part 220), which is not conducive to the development of the cleaning robot 200 towards miniaturization. The transmission of the rotating force is realized by gear transmission, which can set the driving part 140 and the walking wheel 120 between the front part 210 and the rear part 220 of the cleaning robot 200, that is, the shell of the cleaning robot 200 can cover the walking wheel module 100, which will not increase the projection area of the cleaning robot 200 on the surface to be cleaned, and is conducive to the development of the cleaning robot 200 towards miniaturization.

[0061] Exemplary, the connecting section 111 is fixedly connected to the power transmission device, such as Figure 2 As shown, one end of the connecting section 111 on the inner side is fixedly connected to the power transmission device, which has a supporting force on the cleaning section 112, improving the stability of the cleaning section 112.

[0062] Specifically, the connecting section 111 of the wheel body cleaning part 110 can be arranged on the gear box 130, and the wheel body cleaning part 110 is located on the side of the gear box 130 close to the walking wheel 120. In this way, the volume of the wheel body cleaning part 110 can be used to realize the scraping of dust and foreign matters on the walking wheel 120, which can reduce the production cost on the one hand, and can also reduce the occupied area of the wheel body cleaning part 110 on the other hand, thereby leaving effective accommodation space for other components inside the cleaning robot 200.

[0063] Exemplarily, the wheel body cleaning part 110 is arranged vertically to the gear box 130, and the wheel body cleaning part 110 is arranged on the same side of the gear box 130 and the walking wheel 120. The end of the wheel body cleaning part 110 close to the gear box 130 is a connecting end, which is used for fixedly or detachably connecting with the gear box 130. It can be understood that, in order to facilitate the user to clean the wheel body cleaning part 110 regularly, the wheel body cleaning part 110 is usually arranged in a detachable mode. The detachable connection can be that a bayonet is arranged on the gear box 130, and a protruding block is arranged on the connecting end of the connecting segment 111 and faces the gear box 130; or a protruding block is arranged on the gear box 130, and a bayonet is arranged on the connecting end of the connecting segment 111 and faces the gear box 130. The gear box 130 and the wheel body cleaning part 110 are detachably connected through the cooperation of the bayonet and the protruding block. The gear box 130 and the wheel body cleaning part 110 can also be detachably connected through bolt connection. Thread holes are arranged in the length direction of the wheel body cleaning part 110. The length direction of the wheel body cleaning part 110 refers to the distance between the end close to the gear box 130 and the end away from the gear box 130. Similarly, thread holes are also arranged at the corresponding positions of the gear box 130. The gear box 130 and the wheel body cleaning part 110 are detachably connected through the screwing of the two thread holes. The gear box 130 and the wheel body cleaning part 110 can also be detachably connected through magnetic attraction. As long as the wheel body cleaning part 110 can be quickly and conveniently detached from the gear box 130, other detachable connection modes are not listed here.

[0064] It should be noted that the wheel body cleaning part 110 extends from one side of the gear box 130 to the direction away from the gear box 130, and the extension length is not less than the width of the walking wheel 120. That is, the width of the entire wheel body cleaning part 110 is not less than the maximum width of the walking wheel 120 in contact with the surface to be cleaned. In this way, during the rotation of the walking wheel 120, the wheel body cleaning part 110 can cover the walking wheel 120 in the width direction, so as to clean the entire walking wheel 120 and improve the cleaning area and cleaning efficiency of the walking wheel 120.

[0065] Exemplarily, the side of the wheel body cleaning part 110 close to the walking wheel 120, that is, the wheel body cleaning part 110 and the walking wheel 120 have intersection on the projection in the preset plane. The part of the wheel body cleaning part 110 corresponding to the intersection is a brush or a cleaning cloth, which is used for cleaning the walking wheel 120.

[0066] In a feasible implementation, the walking wheel module 100 further comprises:

[0067] The arc-shaped baffle 150 is arranged on the power transmission device, and the arc-shaped baffle 150 is gap-fitted with the walking wheel 120.

[0068] The arc-shaped baffle 150 is arranged on the power transmission device, and is arranged around the walking wheel 120. The arrangement of the arc-shaped baffle 150 can optimize the airflow near the walking wheel 120, thereby reducing the airflow resistance during walking and improving the walking efficiency of the cleaning robot 200. That is, the arrangement of the arc-shaped baffle 150 can block the airflow directly acting on the walking wheel 120, thereby avoiding the formation of resistance in the opposite direction of the advancing direction or the retreating direction, improving the walking efficiency of the cleaning robot 200, and reducing the energy consumption of the driving system.

[0069] It should be noted that, in order to ensure efficient blocking of the airflow, the center of the arc-shaped baffle 150 is usually coincident with the center of the walking wheel 120. The arc-shaped baffle 150 can be an entire arc-shaped segment arranged on the gear box 130, or can be arranged in segments, such as a first arc-shaped baffle arranged on the side of the walking wheel 120 turning away from the cleaning surface, and a second arc-shaped baffle arranged on the side of the walking wheel 120 turning towards the cleaning surface. The first arc-shaped baffle is arranged on the gear box 130, and the second arc-shaped baffle is arranged on the support plate of the power transmission device, which is located on the side of the walking wheel away from the gear box 130.

[0070] For example, in the width direction of the walking wheel 120, the arc-shaped baffle 150 has a size suitable for the width of the walking wheel 120. That is, the arc-shaped baffle 150 extends from the gear box 130 in a direction away from the gear box 130, and the extension length is not less than the width of the walking wheel 120. That is, the distance between the end of the arc-shaped baffle 150 connected to the gear box 130 and the end of the arc-shaped baffle 150 away from the gear box 130, i.e., the width of the arc-shaped baffle 150, is not less than the maximum width of the walking wheel 120 in contact with the cleaning surface. In this way, the airflow generated during the walking of the walking wheel 120 can be more effectively blocked from acting on the walking wheel 120. It can be understood that there is a certain gap between the arc-shaped baffle 150 and the walking wheel 120 to avoid direct contact between the arc-shaped baffle 150 and the walking wheel 120 to generate friction, which affects the walking efficiency of the walking wheel 120.

[0071] In a possible implementation, the connecting segment 111 is fixed on the arc-shaped baffle 150, and the cleaning segment 112 is arranged at the end of the connecting segment 111 away from the arc-shaped baffle 150; or the connecting segment 111 is fixed on the support shaft of the walking wheel 120, and the cleaning segment 112 is arranged at the end of the connecting segment 111 away from the support shaft.

[0072] For example, the connecting section 111 is arranged on the arc-shaped baffle 150, and the cleaning section 112 is arranged at an end of the connecting section 111 away from the arc-shaped baffle 150, that is, the wheel body cleaning part 110 is located between the arc-shaped baffle 150 and the walking wheel 120. Specifically, when the arc-shaped baffle 150 is arranged on the walking wheel module 100, the wheel body cleaning part 110 can be arranged on a side of the arc-shaped baffle 150 facing the walking wheel 120, that is, the wheel body cleaning part 110 is arranged in a gap between the arc-shaped baffle 150 and the walking wheel 120, without occupying additional space, ensuring the compactness of the walking wheel module 100, and facilitating the miniaturization of the cleaning robot 200.

[0073] It should be noted that when the width of the arc-shaped baffle 150 is equal to the width of the walking wheel 120, the width of the wheel body cleaning part 110 is equal to the width of the arc-shaped baffle 150; when the width of the arc-shaped baffle 150 is greater than the width of the walking wheel 120, the width of the wheel body cleaning part 110 is less than the width of the arc-shaped baffle 150, and the width of the wheel body cleaning part 110 is not less than the width of the walking wheel 120; or the width of the wheel body cleaning part 110 is greater than the width of the arc-shaped baffle 150, at this time the wheel body cleaning part 110 protrudes from the arc-shaped baffle 150, facilitating the removal of the wheel body cleaning part 110 from the arc-shaped baffle 150, and improving the disassembly efficiency of the wheel body cleaning part 110.

[0074] For example, the connecting section 111 can also be connected with the support shaft of the walking wheel 120, at this time the connecting section 111 is L-shaped, that is, it includes a vertical connecting vertical rod and a horizontal plate, the vertical rod is fixedly connected with the support shaft at an end away from the horizontal plate, the horizontal plate is located outside the outer periphery of the walking wheel 120, that is, there is a gap between the horizontal plate and the walking wheel 120, and the cleaning section 112 is arranged on a side of the horizontal plate facing the walking wheel 120, the support of the cleaning section 112 is realized through the support shaft, the vertical rod and the horizontal plate, the extrusion force between the cleaning section 112 and the walking wheel 120 is ensured, and the cleaning of the walking wheel 120 by the cleaning section 112 is realized under the double action of the friction force generated by the rotation of the walking wheel 120. It can be understood that at this time the gear shaft in the gear box 130 is fixedly connected with the shaft sleeve of the walking wheel 120, the bearing and the support shaft are arranged in the shaft sleeve, that is, the shaft sleeve, the outer ring of the bearing and the gear shaft in the gear box 130 rotate together, and drive the walking wheel 120 to walk, and the support shaft is fixedly arranged for supporting the connecting section 111. For this example, the connecting section 111 is arranged on a side of the walking wheel 120 away from the power transmission device.

[0075] In a possible implementation, the arc-shaped baffle 150 is provided with a mounting portion of the connecting section 111 at a position opposite to the walking wheel 120. The mounting portion is used for mounting the connecting section 111, supporting the connecting section 111, and ensuring the stability of the wheel body cleaning part 110 during cleaning.

[0076] Exemplarily, the mounting portion is a fixed column or a mounting cavity. That is, when the mounting portion is a fixed column, the connecting section 111 is provided with a circular groove on the side facing the arc-shaped baffle 150, and the circular groove is inserted into the fixed column; or when the mounting portion is a mounting cavity, the connecting section 111 is provided with a protruding block on the side facing the arc-shaped baffle 150, and the protruding block is inserted into the mounting cavity. It can be understood that when the connecting section 111 is inserted into the mounting portion, a track and / or a protruding connecting portion can be arranged on the fixed column (in the mounting cavity), and a protruding connecting portion and / or a track can be arranged in the circular groove (on the protruding block), and the positions of the track and the protruding connecting portion correspond to each other, so as to improve the stability of the connection between the mounting portion and the connecting section 111, and avoid the connecting section 111 from falling out of the mounting portion.

[0077] In a feasible implementation, the cleaning section 112 is made of a flexible material or an elastic material, and the cleaning section 112 and the walking wheel 120 have an intersection in the projection on a preset plane.

[0078] The preset plane is perpendicular to the surface to be cleaned, and the preset plane is parallel to the plane where the walking wheel 120 is located.

[0079] When the wheel body cleaning part 110 is arranged between the arc-shaped baffle 150 and the walking wheel 120, the wheel body cleaning part 110 includes the connecting section 111 and the cleaning section 112 connected to each other, the connecting section 111 is used to connect with the arc-shaped baffle 150, and the cleaning section 112 is in contact with and interferes with the walking wheel 120. That is, the cleaning section 112 and the walking wheel 120 have an intersection in the projection on a preset plane, and the preset plane is perpendicular to the surface to be cleaned, and the preset plane is parallel to the plane where the walking wheel 120 is located. In this way, the wheel body cleaning part 110 can be located between the arc-shaped baffle 150 and the walking wheel 120, and at the same time, the wheel body cleaning part 110 can generate a pressing force on the walking wheel 120, so as to effectively scrape off the dust and foreign matters on the walking wheel 120 under the rotation force of the walking wheel 120.

[0080] Exemplarily, the cleaning section 112 is made of a flexible material, and the flexible cleaning section 112 is used to clean the walking wheel 120, so as to avoid the cleaning section 112 from causing abrasion to the walking wheel 120, on the one hand, the balance of the walking wheel 120 can be prevented from deviating, and the walking wheel 120 can always walk on the planned route accurately; on the other hand, the dust and dirt hidden in the groove caused by the abrasion can be avoided, so that the walking wheel 120 can be completely cleaned. The cleaning section 112 can also be made of an elastic material, and the above-mentioned effect can also be achieved, and details are not described herein.

[0081] It should be noted that the connecting section 111 and the arc-shaped baffle 150 can be integrally formed or detachably connected. When the connecting section 111 and the arc-shaped baffle 150 are integrally formed, the arc-shaped baffle 150 and the gear box 130 can be detachably connected, so as to facilitate the arc-shaped baffle 150 and the wheel body cleaning part 110 to be detached for cleaning and replacement. When the connecting section 111 and the arc-shaped baffle 150 are detachably connected, the arc-shaped baffle 150 and the gear box 130 can be integrally formed or detachably connected. Generally, the arc-shaped baffle 150 and the gear box 130 are integrally formed or detachably connected by bolts or buckles. When the arc-shaped baffle 150 and the gear box 130 are integrally formed, the wheel body cleaning part 110 can protrude from the arc-shaped baffle 150, so as to facilitate the wheel body cleaning part 110 to be detached from the arc-shaped baffle 150. When the arc-shaped baffle 150 and the gear box 130 are detachably connected, the length of the wheel body cleaning part 110 is not less than the width of the walking wheel 120.

[0082] For example, the detachable connection between the arc-shaped baffle 150 and the gear box 130 can be achieved by the cooperation of a bayonet and a convex block, magnet adsorption or bolt connection. Similarly, the detachable connection between the arc-shaped baffle 150 and the wheel body cleaning part 110 can also be achieved by the cooperation of a bayonet and a convex block, magnet adsorption or bolt connection. For example, a dovetail groove can be arranged on the arc-shaped baffle 150, and a dovetail block can be arranged on the connecting section 111 of the wheel body cleaning part 110. Alternatively, a dovetail block can be arranged on the arc-shaped baffle 150, and a dovetail groove can be arranged on the connecting section 111 of the wheel body cleaning part 110. The detachable connection between the wheel body cleaning part 110 and the arc-shaped baffle 150 can be achieved by the cooperation of the dovetail groove and the dovetail block.

[0083] For example, when the wheel body cleaning part 110 and the arc-shaped baffle 150 are connected by the dovetail groove and the dovetail block, a convex part can be arranged on the side of the arc-shaped baffle 150 away from the walking wheel 120, and a dovetail groove or a dovetail block can be arranged on the side of the convex part facing the walking wheel 120. That is, the distance between the arc-shaped baffle 150 and the walking wheel 120 can be increased by arranging the convex part, so as to provide more installation space for the wheel body cleaning part 110, thereby improving the reliability and stability of the connection between the wheel body cleaning part 110 and the arc-shaped baffle 150. In addition, the rotating force of the walking wheel 150 during walking can not act on the wheel body cleaning part 110, so as to avoid the wheel body cleaning part 110 from loosening and affecting the cleaning effect of the walking wheel 120.

[0084] In a possible implementation, the cleaning section 112 is a brush or a cleaning cloth.

[0085] The cleaning section 112 can be a brush. Since there is some interference between the cleaning section 112 and the wheel 120, cleaning the surface of the wheel 120 with the brush can remove dust and foreign objects from the grooves of the wheel 120, improving the cleaning effect of the wheel cleaning section 110. The cleaning section 112 can also be a cleaning cloth of a certain thickness. Wiping the wheel 120 with the cleaning cloth can also effectively remove dust and foreign objects from the surface of the wheel 120.

[0086] It is understood that the cleaning section 112 in this application is a brush or cleaning cloth, which is only an example. Other materials that can clean the wheels are also included in the scope of this application, such as rubber, which will not be described in detail here.

[0087] In one possible implementation, the wheel cleaning section 110 is located on the side of the traveling wheel 120 that is away from the surface to be cleaned; and / or

[0088] The wheel cleaning section 110 is located on the side where the traveling wheel 120 rotates into the surface to be cleaned; and the wheel cleaning section 110 and the traveling wheel 120 have an intersection in their projections on a preset plane.

[0089] Among them, the walking wheel 120 is set in Figures 2 to 4 With counter-clockwise rotation as the forward direction, the line connecting the bottom and top of the travel wheel 120 divides the travel wheel 120 into a left and a right section. The left section is where the travel wheel 120 rotates into the surface to be cleaned, and the right section is where the travel wheel 120 rotates away from the surface to be cleaned. Figure 1 As shown, when the wheel cleaning section 110 is only located on the left side of the traveling wheel 120, that is, on the side of the traveling wheel 120 that rotates into the surface to be cleaned, the dust and foreign matter on the traveling wheel 120 are left on the side of the wheel cleaning section 110 away from the surface to be cleaned. The dust and dirt on the traveling wheel 120 that rotates into the surface to be cleaned are intercepted, and the traveling wheel 120 re-enters the surface to be cleaned in a clean state. When it rotates away from the surface to be cleaned, the traveling wheel 120 picks up dust and foreign matter again, rotates back towards the side to be cleaned, and continues to be intercepted by the wheel cleaning section 110. The traveling wheel 120 then re-enters the surface to be cleaned in a clean state, and this process is repeated to prevent dust and dirt from entering other areas of the surface to be cleaned. Figure 3 As shown, when the wheel cleaning unit 110 is only located on the right side of the traveling wheel 120, that is, on the side of the traveling wheel 120 that is away from the surface to be cleaned, the dust and foreign objects on the traveling wheel 120 are left on the rear side in the direction of travel. The traveling wheel 120 entering the side of the surface to be cleaned is free of dust and foreign objects and enters the next surface area to be cleaned in a clean state. The dust and foreign objects left on the rear side can be cleaned by the cleaning system of the cleaning robot 200. Figure 4As shown, when two wheel body cleaning parts 110 are arranged on both sides of the walking wheel 120, that is, one wheel body cleaning part 110 is arranged on the side where the walking wheel 120 turns into and turns away from the surface to be cleaned, the dust and foreign matter brought by the walking wheel 120 can be left behind in the walking direction by the right wheel body cleaning part 110, and cleaned by the cleaning system of the cleaning robot 200. A part of the dust and foreign matter will continue to rotate with the walking wheel 120, and at this time, the left wheel body cleaning part 110 is reached for secondary cleaning, and the remaining dust and foreign matter is left above the left wheel body cleaning part 110, so that the walking wheel 120 entering the next surface to be cleaned is clean, further improving the cleaning effect of the wheel body cleaning part 110 on the walking wheel 120.

[0090] It can be understood that when the driving system rotates reversely, that is, the cleaning robot 200 moves towards the part 220, that is, as shown in FIG. 6, the walking wheel 120 rotates clockwise, the line connecting the lowermost end and the uppermost end of the walking wheel 120 divides the walking wheel 120 into a left part and a right part. At this time, the left part is the side where the walking wheel 120 turns away from the surface to be cleaned, and the right part is the side where the walking wheel 120 turns into the surface to be cleaned, and the remaining principles are as described above, which will not be repeated. Figures 2 to 4

[0091] It should be noted that the wheel body cleaning part 110 intersects with the walking wheel 120 on the surface to be cleaned, that is, the wheel body cleaning part 110 is arranged as close as possible to the surface to be cleaned on the basis of the arc-shaped baffle 150, so that the walking wheel 120 turning into and turning away from the surface to be cleaned can be as little as possible in contact with air to avoid adsorbing dust in the air and ensure the cleanliness of the walking wheel 120.

[0092] In a feasible embodiment, the walking wheel module 100 is arranged on the cleaning robot 200, and the cleaning robot 200 includes a housing, at least part of the wheel body cleaning part 110 is arranged in the housing, the wheel body cleaning part 110 includes a connecting section 111 and a cleaning section 112, the connecting section 111 is connected with the housing, and the cleaning section 112 is arranged towards the walking wheel 120.

[0093] ​The walking wheel module 100 can also be set on the housing of the cleaning robot 200. At least part of the wheel cleaning part 110 is located inside the housing, and the wheel cleaning part 110 located outside the housing leaves a gap with the surface to be cleaned. On the one hand, this avoids the wheel cleaning part 110 from directly contacting the surface to be cleaned and causing wear to the surface. On the other hand, if the wheel cleaning part 110 contacts the surface to be cleaned, that is, if the wheel cleaning part 110 is perpendicular to the surface to be cleaned, the walking wheel 120 is in point contact with the surface to be cleaned. Therefore, the end of the wheel cleaning part 110 that is perpendicular to the surface to be cleaned cannot form a squeezing force, thus losing the cleaning area of ​​the wheel cleaning part 110.

[0094] It should be noted that when the wheel cleaning part 110 is provided on the housing, the wheel cleaning part 110 is located on the side where the traveling wheel 120 rotates away from the surface to be cleaned; and / or the wheel cleaning part 110 is located on the side where the traveling wheel 120 rotates into the surface to be cleaned. Similarly, the traveling wheel 120 is set in... Figures 2 to 4 With counter-clockwise rotation as the forward direction, the line connecting the bottom and top of the travel wheel 120 divides the travel wheel 120 into a left and a right section. The left section is where the travel wheel 120 rotates into the surface to be cleaned, and the right section is where the travel wheel 120 rotates away from the surface to be cleaned. Figure 1 As shown, when the wheel cleaning section 110 is only located on the left side of the traveling wheel 120, that is, on the side of the traveling wheel 120 that rotates into the surface to be cleaned, the dust and foreign matter on the traveling wheel 120 are left on the side of the wheel cleaning section 110 away from the surface to be cleaned. The dust and dirt on the traveling wheel 120 that rotates into the surface to be cleaned are intercepted, and the traveling wheel 120 re-enters the surface to be cleaned in a clean state. When it rotates away from the surface to be cleaned, the traveling wheel 120 picks up dust and foreign matter again, rotates back towards the side to be cleaned, and continues to be intercepted by the wheel cleaning section 110. The traveling wheel 120 then re-enters the surface to be cleaned in a clean state, and this process is repeated to prevent dust and dirt from entering other areas of the surface to be cleaned. Figure 3 As shown, when the wheel cleaning unit 110 is only located on the right side of the traveling wheel 120, that is, on the side of the traveling wheel 120 that is away from the surface to be cleaned, the dust and foreign objects on the traveling wheel 120 are left on the rear side in the direction of travel. The traveling wheel 120 entering the side of the surface to be cleaned is free of dust and foreign objects and enters the next surface area to be cleaned in a clean state. The dust and foreign objects left on the rear side can be cleaned by the cleaning system of the cleaning robot 200. Figure 4As shown, when two wheel body cleaning parts 110 are arranged on both sides of the walking wheel 120, that is, one wheel body cleaning part 110 is arranged on the side where the walking wheel 120 turns into and turns away from the surface to be cleaned, the dust and foreign matter brought up by the walking wheel 120 can be left behind in the walking direction by the right wheel body cleaning part 110, and cleaned by the cleaning system of the cleaning robot 200. Some dust and foreign matter will continue to rotate with the walking wheel 120, and at this time, the left wheel body cleaning part 110 is reached, and the remaining dust and foreign matter is left above the left wheel body cleaning part 110, so that the walking wheel 120 entering the next surface to be cleaned is clean, further improving the cleaning effect of the wheel body cleaning part 110 on the walking wheel 120.

[0095] Another embodiment of the present application provides a cleaning robot 200, which comprises:

[0096] A machine body; and

[0097] The walking wheel module 100 as described above is arranged on the machine body.

[0098] The cleaning robot 200 of the present embodiment can include two walking wheel modules 100, which are symmetrically arranged on both sides of the width direction of the cleaning robot 200. The width direction of the cleaning robot 200 refers to the direction perpendicular to the line connecting the front portion 210 and the rear portion 220. One of the walking wheel modules 110 has a driving part 140, and the other walking wheel module 110 can not be configured with a driving part 140, that is, the cleaning robot 200 can include one active walking wheel 120 and one driven walking wheel 120. Alternatively, the cleaning robot 200 can be provided with three walking wheel modules 100, which are arranged in an isosceles triangle on the machine body. At this time, there can be one active walking wheel 120 or two active walking wheels 120, which can be arranged as needed. Alternatively, four walking wheel modules 100 can be arranged in a square or rectangle on the machine body. At this time, there can be one active walking wheel 120 or two active walking wheels 120. The active walking wheel 120 refers to the walking wheel module 100 with the driving part 140, and the driven walking wheel 120 refers to the walking wheel module 100 without the driving part.

[0099] The walking wheel 120 and the at least partial wheel body cleaning part 110 interfere with each other, so that the wheel body cleaning part 110 can scrape off the dust and foreign matters on the walking wheel 120 under the action of the rotating force when the walking wheel 120 rotates, avoiding the walking wheel 120 moving to the next cleaning area with the dust and foreign matters, and better planning the cleaning path of the cleaning robot 200, avoiding repeated cleaning, and ensuring the cleaning efficiency of the cleaning robot 200. At the same time, the dust and foreign matters scraped off from the walking wheel 120 can be adsorbed through the dry cleaning mode, ensuring the cleaning effect of the cleaning robot 200.

[0100] It can be understood that, since the cleaning robot 200 comprises the walking wheel module 100 described above, the cleaning robot 200 of the embodiment has all the advantages of the walking wheel module 100 described above, and will not be described again.

[0101] In the present application, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance. The term "a plurality of" refers to two or more, unless otherwise explicitly limited.

[0102] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The application is intended to cover any variations, uses or adaptive changes of the application following the general principles thereof and including those expressly stated or implied herein. The specification and examples are to be regarded as illustrative only.

[0103] The above is only the preferred embodiment of the present application, and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.​​​​

Claims

1. A walking wheel module, characterized in that, The walking wheel module comprises: a walking wheel; a wheel body cleaning part in contact with the walking wheel, the wheel body cleaning part being used for cleaning the walking wheel; the wheel body cleaning part comprises a cleaning section arranged on the outer periphery of the walking wheel, the cleaning section being in contact with or interfering with the walking wheel to clean the walking wheel; in the width direction of the walking wheel, the cleaning section has a size adapted to the width of the walking wheel, and the width of the cleaning section is not less than the maximum width of the contact surface of the walking wheel with the surface to be cleaned.

2. The walking wheel module of claim 1, wherein, The wheel body cleaning part further comprises a connecting section connected with the cleaning section.

3. The walking wheel module of claim 2, wherein, The walking wheel module further comprises a power transmission device for driving the walking wheel to rotate.

4. The walking wheel module of claim 3, wherein, The power transmission device comprises a gear box and a driving part arranged at the first end of the gear box, the walking wheel being arranged at the second end of the gear box, a plurality of gears being arranged in the gear box and being sequentially meshed, the gears at least comprising a first gear and a second gear, the driving part being fixedly connected with the first gear, and the walking wheel being fixedly connected with the second gear through a connecting shaft.

5. The walking wheel module of claim 3, wherein, The connecting section is fixedly connected with the power transmission device.

6. The walking wheel module of claim 3, wherein, The walking wheel module further comprises: an arc-shaped baffle arranged on the power transmission device, the arc-shaped baffle being gap-fitted with the walking wheel.

7. The walking wheel module of claim 6, wherein, The connecting section is fixed on the arc-shaped baffle, and the cleaning section is arranged at the end of the connecting section away from the arc-shaped baffle; or the connecting section is fixed on the support shaft of the walking wheel, and the cleaning section is arranged at the end of the connecting section away from the support shaft.

8. The walking wheel module of claim 6, wherein, In the width direction of the walking wheel, the arc-shaped baffle has a size adapted to the width of the walking wheel.

9. The walking wheel module of claim 7, wherein, An installation part of the connecting section is arranged at the position opposite to the walking wheel on the arc-shaped baffle.

10. The walking wheel module of claim 9, wherein, The installation part is a fixed column or an installation cavity.

11. The walking wheel module of claim 1, wherein, The cleaning section is made of flexible or elastic material, and the projection of the cleaning section and the walking wheel on a preset plane has intersection; The preset plane is arranged perpendicularly to the surface to be cleaned, and the preset plane is parallel to the plane where the walking wheel is located.

12. The walking wheel module of claim 11, wherein, The cleaning section is a brush or a cleaning cloth.

13. The walking wheel module according to any one of claims 1 to 12, characterized in that During forward movement, in the rotation direction of the walking wheel, the wheel body cleaning part is located on the side of the walking wheel away from the surface to be cleaned; and / or the wheel body cleaning part is located on the side of the walking wheel entering the surface to be cleaned.

14. The walking wheel module of claim 1, wherein, The walking wheel module is arranged on a cleaning robot, the cleaning robot comprising a shell, at least part of the wheel body cleaning part being arranged in the shell, the wheel body cleaning part comprising a connecting section and a cleaning section, the connecting section being connected with the shell, and the cleaning section being arranged towards the walking wheel.

15. A cleaning robot, characterized in that, The cleaning robot comprises: a machine body; and The walking wheel module as claimed in any one of claims 1 to 14 is arranged on the machine body. The walking wheel module as claimed in any one of claims 1 to 14 is arranged on the machine body.

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