Chassis structure, cleaning equipment and cleaning system

Abstract

The utility model provides a chassis structure, cleaning equipment and a cleaning system, and relates to the technical field of cleaning equipment. The chassis structure comprises a chassis body, walking wheels and a lifting mechanism. The walking wheels are connected to the chassis body through rotating shafts, and driving parts are arranged on the walking wheels. The lifting mechanism comprises a positioning piece and a transmission piece, and the transmission piece is arranged on the chassis body. The positioning piece and the transmission piece move in a matched mode, the transmission piece is used for driving the chassis body to be switched between the normal state and the lifting state, and the positioning piece is connected with the driving part. Wherein the horizontal height of the chassis body in the lifting state is higher than the horizontal height of the chassis body in the normal state. The chassis structure can solve the problem that cleaning experience is affected due to the fact that lifting reliability of a chassis of the sweeper is low.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, specifically to a chassis structure, cleaning equipment, and cleaning system. Background Technology

[0002] A robotic vacuum cleaner, also known as a floor cleaner, is a common intelligent cleaning appliance mainly used for cleaning floors (including wood floors, tiles, carpets, etc.). The chassis of a robotic vacuum cleaner is usually close to the ground to ensure effective suction; however, this low-profile design can prevent the vacuum cleaner from passing smoothly through obstacles, thus affecting cleaning efficiency.

[0003] In related technologies, the lifting function of the sweeper chassis is mainly achieved through pull ropes and traction springs, in conjunction with corresponding transmission devices and control systems. When it is necessary to raise the chassis, the force exerted by the pull ropes and traction springs on the chassis is greater than the weight of the chassis, thus lifting it up. When it is necessary to lower the chassis, the pull ropes can release the force, allowing the chassis to be lowered.

[0004] However, during the process of controlling the chassis to rise and fall, the pull rope needs to bear a large force, which can easily lead to the failure of the chassis to rise or fall, thus affecting the normal operation of the sweeper and impacting the user experience. Utility Model Content

[0005] This application provides a chassis structure, cleaning equipment, and cleaning system that can solve the problem of low reliability of the chassis lifting mechanism of a sweeping machine, which affects the cleaning experience.

[0006] In a first aspect, this application provides a chassis structure comprising:

[0007] Chassis body;

[0008] The walking wheels are connected to the chassis body via a rotating shaft, and a drive unit is provided on the walking wheels;

[0009] A lifting mechanism includes a positioning component and a transmission component disposed on the chassis body. The positioning component and the transmission component move in coordination. The transmission component drives the chassis body to switch between a normal state and a raised state, and the positioning component is connected to the drive unit.

[0010] The horizontal height of the chassis body in the raised state is higher than the horizontal height of the chassis body in the normal state.

[0011] The chassis structure provided in this application allows the cleaning equipment to operate in a normal state when cleaning a flat surface. At this time, there is a small distance between the chassis and the surface to be cleaned, ensuring effective suction of dirt. When encountering an obstacle, the chassis can be raised, increasing the distance between the chassis and the surface, allowing the chassis to pass over the obstacle without easily colliding with it.

[0012] Specifically, the wheels travel on the surface to be cleaned. The surface to be cleaned can support the wheels. For example, when the surface to be cleaned is flat, the horizontal height of the wheels remains constant during the switching between the normal and raised states of the chassis body. The horizontal height of the drive unit on the wheels can also remain constant. Since the drive unit is connected to the positioning component, the horizontal height of the positioning component can also remain constant. Through the coordinated movement of the positioning component and the transmission component, when the horizontal height of the positioning component remains constant, the movement of the transmission component can drive the chassis body to rise or fall, thereby switching between the normal and raised states.

[0013] The positioning component and the transmission component are rigidly connected. Therefore, the structure between the positioning component and the transmission component remains stable during the switching between the normal state and the raised state of the chassis body. This helps to improve the motion reliability of the chassis body when switching between the normal state and the raised state, and maintain the continuous operation of the cleaning equipment.

[0014] Therefore, when the cleaning equipment encounters obstacles during the cleaning process, the chassis can automatically cross the obstacles without requiring manual handling by the user. This can improve the intelligence and automation level of the cleaning equipment, achieve continuity and integrity in cleaning the surface to be cleaned, and enhance the user experience.

[0015] According to one embodiment of this application, the driving part is located on the side of the positioning member facing the surface to be cleaned, and the transmission member has an upward position and a downward position relative to the positioning member in a first direction;

[0016] When the transmission component is in the lowered position, the chassis body is in the normal state; when the transmission component is in the raised position, the chassis body is in the raised state.

[0017] In this embodiment, the transmission member has an upward position and a downward position relative to the positioning member along a first direction. In other words, the positioning member and the transmission member can generate relative displacement in the first direction through their coordinated movement. Therefore, the direction in which the positioning member and the transmission member cooperate is the same as the direction of movement of the chassis body. The movement of the transmission member can cause the entire chassis body to translate upward along the first direction, thereby reducing the possibility of a part of the chassis body colliding with an obstacle.

[0018] Furthermore, since the chassis body translates upwards along the first direction, the height difference between the rising and falling positions of the transmission component is equal to the height difference between the chassis body in its normal and raised states. The chassis body can overcome obstacles in the raised state by setting the relative displacement between the positioning component and the transmission component in the first direction to be greater than the size of a conventional obstacle.

[0019] The relative displacement between the positioning component and the transmission component in the first direction can be freely set according to the size of the obstacle, so the height of the chassis body can be raised without being limited to its own structure.

[0020] When the chassis body needs to be in a raised position, the transmission component can be driven to move in the upward direction. Since the transmission component is fixed to the chassis body, the upward movement of the transmission component can drive the chassis body to rise synchronously, thus allowing the chassis body to be in a raised position.

[0021] According to one embodiment of this application, the transmission member extends along the first direction, the positioning member is sleeved on the outside of the transmission member, and the transmission member is threadedly connected to the positioning member;

[0022] The transmission component can rotate around its own axis, and the transmission component can rotate in the forward or reverse direction to drive the chassis body to switch between the normal state and the raised state.

[0023] In this embodiment, by setting the transmission component and the positioning component to be threadedly connected, the distance between the positioning component and the chassis body can be changed when the transmission component rotates in the forward or reverse direction, and the chassis body can switch between the normal state and the raised state.

[0024] Specifically, since the positioning component remains stationary, when the transmission component rotates in the forward direction, the distance between the positioning component and the chassis body gradually increases, and the chassis body moves towards the surface to be cleaned (downward) to return to its normal state. Conversely, when the transmission component rotates in the reverse direction, the distance between the positioning component and the chassis body gradually decreases, and the chassis body moves upward to increase the distance between the chassis body and the surface to be cleaned, allowing the chassis body to be in a raised state.

[0025] It's easy to understand that the threaded connection between the transmission and positioning components is simple in structure, offers high control precision, and is low in cost. Because the transmission and positioning components are connected by threads, the movement distance of the positioning component along the first direction can be controlled by the thread pitch, thereby setting the lifting height of the chassis body. Therefore, this facilitates more precise control over the lifting height of the chassis body.

[0026] Furthermore, since the transmission component can extend along the first direction and the positioning component is sleeved on the outside of the transmission component, the transmission component can have a guiding function so that the positioning component can maintain movement along the first direction, which is beneficial to improving the stability of the chassis body during the lifting process.

[0027] Furthermore, in this embodiment, the transmission component and the positioning component are rigidly connected, which helps to improve the reliability of the cooperation between the transmission component and the positioning component, and also helps to improve the reliability of the chassis body switching between the normal state and the raised state.

[0028] According to one embodiment of this application, the rotating shaft and the driving part have a distance along a second direction;

[0029] The rotating shaft is used to push the chassis body upward when the transmission component moves to the rising position, so that the chassis body is in the raised state.

[0030] In this embodiment, the rotating shaft can be used to provide a pushing support force to the chassis body when the chassis body moves to the raised state, so as to share part of the driving force of the transmission components on the chassis body. Thus, on the one hand, it can provide stable support for the chassis body when the chassis body is in the raised state, and on the other hand, it is beneficial to improve the service life of the transmission components and improve the reliability of the transmission components driving the chassis body to move.

[0031] Specifically, since the wheels are connected to the chassis body via a pivot, they can rotate around the pivot. The rollers of the wheels travel on the surface to be cleaned, maintaining a constant horizontal height. When the chassis body is in a raised position, the distance between the chassis body and the rollers increases. Because the pivot is connected to the chassis body, it can also rise synchronously with the chassis body during the raising process. The pivot provides support to the chassis body, offering a support point when the chassis body is raised, thereby improving the stability of the chassis body in the raised position.

[0032] According to one embodiment of this application, the chassis body is provided with a slide rail extending along a first direction, and a portion of the positioning member is located within the slide rail.

[0033] In this embodiment, during the switching between the normal state and the raised state, the chassis body has displacement relative to the positioning member along a first direction. The slide rail can be used to avoid the positioning member. Furthermore, the slide rail can also provide guidance for the positioning member, so that the chassis body is raised or reset along the first direction.

[0034] According to one embodiment of this application, the lifting mechanism further includes a guide member extending along the first direction, and a positioning member sleeved on the outside of the guide member. The guide member is used to constrain the movement of the transmission member relative to the positioning member along the first direction.

[0035] In this embodiment, the guide extends along a first direction. By fitting the positioning element onto the outside of the guide, the stability of the positioning element during its ascent and descent can be improved by using the guide.

[0036] According to one embodiment of this application, the lifting mechanism further includes a limiting member, which is disposed on the chassis body and located on the side of the positioning member facing away from the surface to be cleaned. The positioning member is provided with a limiting part, and when the positioning member is in the rising position, the limiting part is connected to the limiting member.

[0037] In this embodiment, the movement distance of the transmission member relative to the positioning member in the first direction can affect the lifting height of the chassis body. Therefore, the movement distance between the transmission member and the positioning member in the first direction can be set according to the lifting height of the chassis body. The maximum movement distance of the positioning member in the first direction is controlled by the physical contact between the limiting part and the limiting member to avoid excessive movement of the transmission member.

[0038] For example, by physically contacting the limiting part and the limiting component, the chassis body can be controlled to stop moving in the normal state, or the chassis body can be controlled to stop moving in the raised state.

[0039] This application embodiment takes the use of a limiting part and a limiting member to control the chassis body to stop moving in a normal state as an example. This allows the chassis body to return to the same normal state after each lifting state, thereby improving the accuracy of the next lifting action.

[0040] According to one embodiment of this application, the lifting mechanism further includes a sensor switch, which is disposed on the chassis body and located on the side of the positioning member facing away from the surface to be cleaned. The sensor switch is used to control the start and stop of the transmission member.

[0041] When the inductive switch corresponds to the positioning element, the transmission element stops operating.

[0042] In this embodiment, the movement of the chassis body in a first direction can be controlled through the inductive cooperation between the positioning element and the inductive switch. During the cooperation between the positioning element and the inductive switch, physical contact between them is not required, thus reducing the possibility of abnormal noise caused by contact.

[0043] According to one embodiment of this application, the inductive switch has opposing transmitting and receiving portions. When the transmission member is in the descending position, a portion of the positioning member is located between the transmitting and receiving portions, and the transmission member stops moving.

[0044] In this embodiment, the inductive switch can be a photosensor. When the transmission member is in the rising position, there is a gap between part of the positioning member and the inductive switch. The positioning member does not block the transmitter and receiver, and the inductive switch is not triggered at this time. When the transmission member is in the falling position, part of the positioning member is located between the transmitter and receiver, and the light signal emitted by the transmitter is blocked by the positioning member, so that the receiver cannot receive the light signal, thereby triggering the inductive switch to control the positioning member to stay in the rising position. At this time, the chassis body is in the normal state.

[0045] According to one embodiment of this application, the lifting mechanism further includes a power unit for providing power to the transmission component; the power unit drives the transmission component to rotate forward or in reverse so that the chassis body switches between the normal state and the raised state.

[0046] In this embodiment, the power unit can cause the transmission component to rotate in the forward or reverse direction via the drive shaft, so as to drive the chassis body 110 to switch between the normal state and the initial state by rotating the drive shaft in the forward or reverse direction.

[0047] Furthermore, the threaded connection and coordinated movement of the positioning and transmission components achieve a labor-saving effect. The transmission component can reach the rising or falling position along the threaded path. Therefore, it is not necessary to use a high-power motor for the power unit, which helps reduce the cost of the cleaning equipment.

[0048] According to one embodiment of this application, the power unit and the transmission member are arranged side by side along a second direction, and the power unit and the transmission member are connected in a driving connection.

[0049] In this embodiment, since the positioning member extends along the first direction and occupies the space along the first direction on the chassis body, the power unit and the transmission member are arranged side by side along the second direction. The power unit no longer occupies the space along the first direction on the chassis body, which helps to reduce the possibility that the power unit occupies the space along the first direction on the chassis body, resulting in a large thickness dimension of the cleaning equipment along the first direction.

[0050] Secondly, the cleaning device provided in this application includes the chassis structure in any of the above embodiments.

[0051] Thirdly, this application provides a cleaning system including a base station and cleaning equipment. The cleaning equipment can be placed on the base station.

[0052] The beneficial effects of the chassis structure provided in this application are as follows: Through the cooperation of the positioning component and the transmission component, the transmission component can drive the chassis body to rise or fall, switching between a normal state and a raised state. Therefore, when encountering an obstacle, the transmission component can drive the chassis body to the raised state, allowing the chassis body to cross the obstacle. The cleaning equipment can clean the surface to be cleaned on the other side of the obstacle, achieving continuity and integrity of the cleaning operation. Furthermore, the positioning component and the transmission component are rigidly connected, ensuring structural stability between them during the switching between the normal and raised states. This improves the reliability of the chassis body's movement between the normal and raised states, maintaining the continuous operation of the cleaning equipment.

[0053] In addition to the technical problems solved by the embodiments of the present invention, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions as described above, other technical problems that can be solved by the chassis structure, cleaning equipment, and cleaning system provided by the embodiments of the present invention, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0054] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0055] Figure 1 This is a three-dimensional structural diagram of the chassis structure when the chassis body is in a raised state, according to an embodiment of this application.

[0056] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0057] Figure 3 This is a partial structural diagram of the chassis structure when the chassis body is in a raised state according to an embodiment of this application;

[0058] Figure 4 This is a three-dimensional structural diagram of the chassis structure when the chassis body is in a normal state, according to an embodiment of this application.

[0059] Figure 5 for Figure 4 Enlarged view of point B in the middle;

[0060] Figure 6 This is a partial structural diagram of the chassis structure when the chassis body is in a normal state, according to an embodiment of this application.

[0061] Explanation of reference numerals in the attached figures:

[0062] 100- Chassis structure;

[0063] 110 - Chassis body; 110a - Slide rail;

[0064] 120 - Walking wheel; 121 - Drive unit; 122 - Shaft; 123 - Roller; 124 - Bracket;

[0065] 130-Lifting mechanism; 131-Positioning component; 1311-Limiting part; 132-Transmission component; 133-Guide component; 134-Limiting component; 134a-Slide groove; 135-Power unit;

[0066] X - First direction; Y - Second direction.

[0067] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0068] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims. Clearly, the described embodiments are only a portion, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0069] The cleaning device provided in this application embodiment can be a floor sweeper. A floor sweeper is a device for cleaning floors. The cleaning function of a floor sweeper is mainly achieved through the high-speed rotation of a motor. The high-speed rotation of the motor can create a vacuum inside the machine, so that high-speed airflow can be used to suck dust, hair, and other dirt from the floor into the machine through the suction port. The dirt can be accumulated in a bag filter or dust box for convenient regular cleaning by the user.

[0070] Some sweeping machines can also be equipped with a mop and a water tank for wiping the floor after sweeping, thereby further improving the cleaning effect. The cleaning equipment in this application embodiment may only have sweeping functions, or it may have a combination of sweeping and wiping functions; this application embodiment is not limited to any particular function.

[0071] Robotic vacuum cleaners typically have a low chassis to ensure effective suction and improve the removal of dirt. However, this low-slung chassis makes them prone to collisions with obstacles, hindering their passage and resulting in poor maneuverability. Even slight protrusions in the path can prevent the vacuum from passing through. For example, the bottom tracks of sliding doors or the edges of carpets can obstruct its movement.

[0072] When a robotic vacuum cleaner has poor obstacle-crossing ability, it will continuously work at the obstacle. Unable to overcome it, it will repeatedly attempt to cross, resulting in repeated collisions and increased energy consumption, reducing its battery life. Furthermore, the inability to overcome the obstacle prevents cleaning of the opposite side of the surface, affecting cleaning effectiveness. In this case, the user needs to manually move the vacuum cleaner to the other side of the obstacle. Therefore, the robotic vacuum cleaner's low level of intelligence impacts cleaning efficiency and user experience.

[0073] In related technologies, the lifting function of the sweeper chassis is mainly achieved through pull ropes and traction springs, in conjunction with corresponding transmission devices and control systems. When it is necessary to raise the chassis, the force exerted by the pull ropes and traction springs on the chassis is greater than the weight of the chassis, thus lifting it up. When it is necessary to lower the chassis, the pull ropes can release the force, allowing the chassis to be lowered.

[0074] However, during the process of controlling the chassis to rise and fall, the pull rope needs to bear a large force, which can easily lead to the failure of the chassis to rise or fall, thus affecting the normal operation of the sweeper and impacting the user experience.

[0075] Based on the aforementioned technical problems, the applicant has improved the existing chassis structure. In this embodiment, the transmission component is mounted on the chassis body. Therefore, through the cooperation of the positioning component and the transmission component, the transmission component can drive the chassis body to rise or fall, switching between a normal state and a raised state. Thus, when encountering an obstacle, the transmission component can drive the chassis body to the raised state, allowing the chassis body to cross the obstacle. The cleaning equipment can clean the surface to be cleaned on the other side of the obstacle, achieving continuity and completeness of the cleaning operation.

[0076] Therefore, in this embodiment, the positioning component and the transmission component are rigidly connected. Thus, the structure between the positioning component and the transmission component remains stable during the switching process between the normal state and the raised state of the chassis body. This is beneficial to improving the motion reliability of the chassis body when switching between the normal state and the raised state, and maintaining the continuous operation of the cleaning equipment.

[0077] The chassis structure 100, cleaning equipment, and cleaning system provided in this application will now be described with reference to the accompanying drawings and specific embodiments.

[0078] See Figures 1 to 6 As shown, the chassis structure 100 of this application embodiment includes a chassis body 110, wheels 120 and a lifting mechanism 130.

[0079] The wheels 120 are connected to the chassis body 110 via a pivot 122. The wheels 120 support the chassis body 110 as it moves on the surface to be cleaned. The surface to be cleaned can be, but is not limited to, floors, tiles, carpets, etc. The wheels 120 are equipped with a drive unit 121.

[0080] The lifting mechanism 130 can be installed on the chassis body 110. The lifting mechanism 130 includes a positioning member 131 and a transmission member 132. The transmission member 132 is installed on the chassis body 110. The positioning member 131 and the transmission member 132 cooperate to move. The transmission member 132 can be used to drive the chassis body 110 to switch between a normal state and a raised state. The positioning member 131 is connected to the drive unit 121.

[0081] Among them, see Figure 1 and Figure 4 As shown, the horizontal height of the chassis body 110 in the raised state is higher than the horizontal height of the chassis body 110 in the normal state.

[0082] It is easy to understand that when the cleaning equipment is cleaning a flat surface, the chassis body 110 can be in its normal state. At this time, there is a small distance between the chassis body 110 and the surface to be cleaned to ensure effective suction of dirt. When encountering an obstacle, the chassis body 110 can be controlled to be in a raised state. In this case, the distance between the chassis body 110 and the surface to be cleaned increases, allowing the chassis body 110 to cross the obstacle without easily colliding with it.

[0083] Specifically, the wheels 120 travel on the surface to be cleaned. The surface to be cleaned can support the wheels 120. For example, when the surface to be cleaned is flat, the horizontal height of the wheels 120 remains unchanged during the switching between the normal state and the raised state of the chassis body 110. The horizontal height of the drive unit 121 on the wheels 120 can also remain unchanged. Since the drive unit 121 is connected to the positioning member 131, the horizontal height of the positioning member 131 can also remain unchanged. Through the coordinated movement of the positioning member 131 and the transmission member 132, when the horizontal height of the positioning member 131 remains unchanged, the movement of the transmission member 132 can drive the chassis body 110 to rise or fall, thereby switching between the normal state and the raised state.

[0084] The positioning component 131 and the transmission component 132 are rigidly connected. Therefore, the structure between the positioning component 131 and the transmission component 132 is stable during the switching between the normal state and the raised state of the chassis body 110. This helps to improve the motion reliability of the chassis body 110 when switching between the normal state and the raised state, and maintain the continuous operation of the cleaning equipment.

[0085] It should be noted that the specific structures of the positioning member 131 and the transmission member 132 are not limited in the embodiments of this application. For example, the positioning member 131 and the transmission member 132 can be slidably connected or rotatably connected.

[0086] In some examples, the traveling wheel 120 may include a roller 123 and a bracket 124. The roller 123 is rotatably connected to the bracket 124 via an axle. Rotation of the roller 123 can cause the cleaning device to move forward or backward. The drive unit 121 and the rotating shaft 122 may be fixed to the bracket 124.

[0087] In some examples, roller 123 may be, but is not limited to, a main drive wheel or an auxiliary wheel. The main function of the main drive wheel is to control the direction and speed of movement of the cleaning equipment. The auxiliary wheel is mainly used to balance and support the chassis body 110 and the structures on the chassis body 110, so that the cleaning equipment will not tip over or become unstable during movement.

[0088] See some possible implementation methods. Figure 3 As shown, in this embodiment of the application, the drive unit 121 can be located on the side of the positioning member 131 facing the surface to be cleaned. The transmission member 132 has a rising position and a falling position relative to the positioning member 131 along the first direction X.

[0089] When the transmission component 132 is in the lowered position, the chassis body 110 is in the normal state. When the transmission component 132 is in the raised position, the chassis body 110 is in the raised state.

[0090] It should be noted that when the cleaning equipment moves on a horizontal surface to be cleaned, the first direction X can refer to the vertical direction, and the second direction Y can refer to the horizontal direction.

[0091] In this embodiment, the transmission member 132 has an upward position and a downward position relative to the positioning member 131 along the first direction X. In other words, the positioning member 131 and the transmission member 132 can generate relative displacement in the first direction X through their coordinated movement. Therefore, the direction in which the positioning member 131 and the transmission member 132 cooperate is the same as the direction of movement of the chassis body 110. The movement of the transmission member 132 can cause the entire chassis body 110 to translate upward along the first direction X, thereby reducing the possibility of a part of the chassis body 110 colliding with an obstacle.

[0092] Furthermore, since the chassis body 110 translates upward along the first direction X, the height difference between the rising and falling positions of the transmission member 132 is equal to the height difference between the chassis body 110 in the normal state and the raised state. The chassis body 110 can overcome obstacles in the raised state by setting the relative displacement between the positioning member 131 and the transmission member 132 in the first direction X to be greater than the size of a conventional obstacle.

[0093] The relative displacement of the positioning component 131 and the transmission component 132 in the first direction X can be freely set according to the size of the obstacle, so the height of the chassis body 110 is not limited to its own structure.

[0094] When the chassis body 110 needs to be in a raised state, the transmission component 132 can be driven to move in the upward direction. Since the transmission component 132 is fixed to the chassis body 110, the movement of the transmission component 132 in the upward direction can drive the chassis body 110 to rise synchronously, and the chassis body 110 can be in a raised state.

[0095] Therefore, when the cleaning equipment encounters obstacles during the cleaning process, the chassis body 110 can automatically cross the obstacles without the need for manual handling by the user. This can improve the intelligence and automation level of the cleaning equipment, achieve continuity and integrity in cleaning the surface to be cleaned, and enhance the user experience.

[0096] See Figure 5 and Figure 6 As shown, after the chassis body 110 is in the raised state to cross the obstacle, the transmission component 132 can be driven to move in the direction of the lowering position. Since the transmission component 132 is fixed to the chassis body 110, the movement of the transmission component 132 in the direction of the lowering position can drive the chassis body 110 to descend synchronously, and the chassis body 110 can be reset to the normal state.

[0097] See also some of the possible implementation methods. Figure 3 As shown, in this embodiment of the application, the transmission member 132 extends along a first direction X. The positioning member 131 is sleeved on the outside of the transmission member 132. The transmission member 132 and the positioning member 131 can be threadedly connected. The transmission member 132 can rotate about its own axis. The transmission member 132 rotates in the forward or reverse direction to drive the chassis body 110 to switch between a normal state and a raised state.

[0098] It should be noted that forward rotation can refer to clockwise or counterclockwise rotation, while reverse rotation is the opposite direction to forward rotation, and is not limited in the embodiments of this application.

[0099] In this embodiment, by setting the transmission component 132 and the positioning component 131 to be threadedly connected, the distance between the positioning component 131 and the chassis body 110 can be changed when the transmission component 132 rotates in the forward or reverse direction, and the chassis body 110 can switch between the normal state and the raised state.

[0100] Specifically, since the positioning element 131 remains stationary, when the transmission element 132 rotates in the forward direction, the distance between the positioning element 131 and the chassis body 110 gradually increases, and the chassis body 110 moves towards the surface to be cleaned (downward) to return to its normal state. Conversely, when the transmission element 132 rotates in the reverse direction, the distance between the positioning element 131 and the chassis body 110 gradually decreases, and the chassis body 110 moves upward to increase the distance between the chassis body 110 and the surface to be cleaned, allowing the chassis body 110 to be in a raised state.

[0101] It is easy to understand that the threaded connection between the transmission component 132 and the positioning component 131 is simple in structure, has high control precision, and low cost. Since the transmission component 132 and the positioning component 131 are connected by threads, the movement distance of the positioning component 131 along the first direction X can be controlled by the thread pitch to set the lifting height of the chassis body 110. Therefore, this facilitates more precise control over the lifting height of the chassis body 110.

[0102] Furthermore, since the transmission member 132 can extend along the first direction X, and the positioning member 131 is sleeved on the outside of the transmission member 132, the transmission member 132 can have a guiding function so that the positioning member 131 can maintain movement along the first direction X, which is beneficial to improving the stability of the chassis body 110 during the lifting process.

[0103] Furthermore, in this embodiment of the application, the transmission component 132 and the positioning component 131 are rigidly connected, which is beneficial to improving the reliability of the cooperation between the transmission component 132 and the positioning component 131, and is beneficial to improving the reliability of the chassis body 110 switching between the normal state and the raised state.

[0104] In some examples, the transmission member 132 has external threads. The positioning member 131 has internal threaded holes. The positioning member 131 is sleeved on the outside of the transmission member 132 through the internal threaded holes.

[0105] For example, the transmission element 132 may be, but is not limited to, a lead screw.

[0106] See also some of the possible implementation methods. Figure 3 As shown, in this embodiment of the application, the rotating shaft 122 and the drive unit 121 have a distance along the second direction Y. The rotating shaft 122 can be used to push the chassis body 110 upward when the transmission member 132 moves to the downward position, so that the chassis body 110 is in a raised state.

[0107] It should be noted that the distance between the rotating shaft 122 and the drive unit 121 along the second direction Y can refer to the distance between the rotating shaft 122 and the drive unit 121 along the direction of travel of the cleaning equipment.

[0108] In this embodiment, the rotating shaft 122 can be used to provide a pushing support force to the chassis body 110 when the chassis body 110 moves to the raised state, so as to share part of the driving force of the transmission component 132 on the chassis body 110. Thus, on the one hand, it can provide stable support for the chassis body 110 when the chassis body 110 is in the raised state, and on the other hand, it is beneficial to improve the service life of the transmission component 132 and improve the reliability of the transmission component 132 driving the chassis body 110 to move.

[0109] Specifically, since the traveling wheels 120 are connected to the chassis body 110 via the pivot 122, the traveling wheels 120 can rotate around the pivot 122. The rollers 123 of the traveling wheels 120 travel on the surface to be cleaned, and the horizontal height of the rollers 123 remains constant. When the chassis body 110 is in a raised state, the distance between the chassis body 110 and the rollers 123 increases. Since the pivot 122 is connected to the chassis body 110, the pivot 122 can also rise synchronously with the chassis body 110 during the raising process. The pivot 122 can support the chassis body 110, providing a support point for the chassis body 110 when it is in a raised state, thereby improving the stability of the chassis body 110 in the raised state.

[0110] It should be noted that when the chassis body 110 is in the raised state, the distance between the rotating shaft 122 and the surface to be cleaned is greater than the distance when the chassis body is in the normal state. Furthermore, the horizontal height of the rollers 123 and the drive unit 121 is the same in both the raised and normal states. Therefore, during the switching between the normal and raised states of the chassis body 110, the wheels 120 can rotate around the rotating shaft 122.

[0111] refer to Figure 1 and Figure 2 As shown, during the transition from the normal state to the raised state, the chassis body 110 can drive the rotating shaft 122 to rise. Therefore, the rotating shaft 122 can move clockwise relative to the center of the roller 123. (Reference) Figure 4 and Figure 5 In the direction shown, during the process of switching from the raised state to the normal state, the chassis body 110 can drive the rotating shaft 122 to descend and reset. Therefore, the rotating shaft 122 can move counterclockwise relative to the center of the roller 123.

[0112] In some examples, the distance between the shaft 122 and the drive unit 121 in the second direction Y is greater than the radius of the roller 123.

[0113] It is easy to understand that, compared to the related technologies where a pull rope and a traction spring work together, the pull rope exerts a direct lifting force on the chassis, bearing all the force. However, in this embodiment, by setting a distance of Y in the second direction between the drive unit 121 and the rotating shaft 122, a larger lever arm can be formed between them. According to the torque formula, given a fixed pushing force of the rotating shaft 122 on the chassis body 110, a longer lever arm results in a larger torque. Alternatively, with a fixed torque, a longer lever arm allows for a smaller pushing force of the rotating shaft 122 on the chassis body 110, thus achieving a labor-saving effect.

[0114] In some examples, during the switching between the normal state and the raised state of the chassis body 110, the drive unit 121 and the positioning member 131 can remain connected at all times. The drive unit 121 and the positioning member 131 can maintain an interaction force so that the positioning member 131 can be kept at a horizontal height by the drive unit 121, thereby enabling the chassis body 110 to stably switch between the normal state and the raised state through the movement of the transmission member 132.

[0115] It should be noted that the structure of the drive unit 121 is not limited in this embodiment. For example, the drive unit 121 may be, but is not limited to, a columnar structure.

[0116] See also some of the possible implementation methods. Figure 2 As shown, the chassis body 110 of this embodiment may be provided with a slide rail 110a extending along the first direction X. Some of the positioning members 131 may be located within the slide rail 110a.

[0117] In this embodiment, during the switching between the normal state and the raised state, the chassis body 110 has a displacement relative to the positioning member 131 along the first direction X. The slide rail 110a can be used to avoid the positioning member 131. In addition, the slide rail 110a can also provide a guiding function for the positioning member 131, so that the chassis body 110 is raised or reset along the first direction X.

[0118] See also some of the possible implementation methods. Figure 3 As shown, the lifting mechanism 130 in this embodiment may further include a power unit 135. The power unit 135 can be used to provide power to the transmission member 132. The power unit 135 can drive the transmission member 132 to rotate in the forward or reverse direction, so that the chassis body 110 switches between the normal state and the raised position.

[0119] Specifically, the power unit 135 can cause the transmission component 132 to rotate in the forward or reverse direction via the drive shaft, so as to drive the chassis body 110 to switch between the normal state and the initial state by rotating the drive shaft in the forward or reverse direction.

[0120] In this embodiment, the positioning member 131 is threadedly connected to the transmission member 132 and moves in coordination, which can achieve a labor-saving effect. The transmission member 132 can reach the rising or falling position along the threaded trajectory. Therefore, the power unit 135 in this embodiment does not necessarily need to be a high-power motor, which helps to reduce the cost of the cleaning equipment.

[0121] In some examples, the power unit 135 may be, but is not limited to, an electric motor. By controlling parameters such as the number of rotations and rotation time of the motor, the maximum movement distance of the transmission component 132 in the first direction X can be constrained, thereby controlling the maximum lifting height of the chassis body 110.

[0122] In some examples, the motor may be equipped with a Hall effect encoder. The Hall effect encoder can control the lifting height of the chassis body 110 by counting the number of rotations of the motor. When the target number of rotations is reached, the motor can be stopped.

[0123] In some feasible embodiments, the power unit 135 and the transmission component 132 are arranged side by side along the second direction Y, and the power unit 135 and the transmission component 132 are connected in a driving manner.

[0124] In this embodiment, since the transmission component 132 extends along the first direction X, and the transmission component 132 and the positioning component 131 occupy the space along the first direction X on the chassis body 110, the power unit 135 is arranged side by side with the transmission component 132 along the second direction Y. The power unit 135 no longer occupies the space along the first direction X on the chassis body 110, which helps to reduce the possibility that the power unit 135 occupies the space along the first direction X on the chassis body 110, resulting in a large thickness dimension of the cleaning equipment along the first direction X.

[0125] In some examples, the power unit 135 and the transmission member 132 may be connected to the transmission member 132 via, but are not limited to, a gear structure. The power unit 135 can transmit power to the transmission member 132 via the gear structure, so that the transmission member 132 can rotate in the forward or reverse direction.

[0126] See also some of the possible implementation methods. Figure 2 and Figure 3 As shown, the lifting mechanism 130 of this embodiment may further include a guide member 133. The guide member 133 extends along a first direction X. The positioning member 131 may be sleeved on the outside of the guide member 133. The guide member 133 may be used to constrain the movement of the transmission member 132 relative to the positioning member 131 along the first direction X.

[0127] In this embodiment, the guide member 133 extends along the first direction X. By sleeved the positioning member 131 on the outside of the guide member 133, the stability of the positioning member 131 during the rising and falling process can be improved by the guide member 133.

[0128] In some examples, the number of guide members 133 can be at least one. For example, the number of guide members 133 can be two. The two guide members 133 can be spaced apart along the second direction Y.

[0129] See also some of the possible implementation methods. Figure 3 and Figure 6 As shown, the lifting mechanism 130 of this embodiment may further include a limiting member 134. The limiting member 134 may be disposed on the chassis body 110, and the limiting member 134 may be located on the side of the positioning member 131 facing away from the surface to be cleaned. The positioning member 131 may be provided with a limiting portion 1311. When the positioning member 131 is in the raised position, the limiting portion 1311 is connected to the limiting member 134.

[0130] In this embodiment, the movement distance of the transmission member 132 relative to the positioning member 131 in the first direction X can affect the lifting height of the chassis body 110. Therefore, the movement distance between the transmission member 132 and the positioning member 131 in the first direction X can be set according to the lifting height of the chassis body 110. The maximum movement distance of the positioning member 131 in the first direction X is controlled by the physical contact between the limiting part 1311 and the limiting member 134 to avoid excessive movement of the transmission member 132.

[0131] For example, by physically contacting the limiting part 1311 with the limiting member 134, the chassis body 110 can be controlled to stop moving in the normal state, or the chassis body 110 can be controlled to stop moving in the raised state.

[0132] In this embodiment of the application, the limiting part 1311 and the limiting member 134 are used to control the chassis body 110 to stop moving in the normal state. This allows the chassis body 110 to be reset to the same normal state after each lifting state, thereby improving the accuracy of the next lifting action.

[0133] The limiting member 134 is located on the side (above) of the positioning member 131 facing away from the surface to be cleaned, and is positioned above the limiting part 1311. When the limiting member 134 is connected to the limiting part 1311, the transmission member 132 is in the lowered position, and the chassis body 110 is in the normal state. Therefore, the relative positions of the limiting member 134 and the limiting part 1311 can be set to determine the position of the chassis body 110 in the normal state.

[0134] Specifically, see Figure 6As shown, when the transmission member 132 moves towards the downward position, it can drive the chassis body 110 to rise. Since the limiting member 134 is provided on the chassis body 110, the limiting member 134 can rise synchronously with the chassis body 110 to approach the limiting part 1311 on the positioning member 131. When the transmission member 132 reaches the downward position, the limiting member 134 on the chassis body 110 can contact the limiting part 1311 on the positioning member 131, and the positioning member 131 can constrain the chassis body 110 from continuing to rise through the limiting part 1311.

[0135] In some feasible implementations, the lifting mechanism 130 of this embodiment may further include a sensor switch. The sensor switch may be disposed on the chassis body 110, and the sensor switch may be located on the side of the positioning member 131 facing away from the surface to be cleaned. The sensor switch may be used to control the start and stop of the transmission member 132. When the sensor switch corresponds to the positioning member 131, the transmission member 132 stops operating.

[0136] It should be noted that the correspondence between the inductive switch and the positioning element 131 is not limited in this embodiment. For example, they can correspond in a spatial direction; in other words, they may not make physical contact.

[0137] By sensing the interaction between the positioning element 131 and the inductive switch, the movement stroke of the chassis body 110 in the first direction X can be controlled. During the interaction between the positioning element 131 and the inductive switch, the positioning element 131 and the inductive switch do not need to make physical contact, thus reducing the possibility of abnormal noise caused by contact between the two.

[0138] In some examples, the power unit 135 can be electrically connected to the inductive switch. When the positioning element 131 triggers the inductive switch, the inductive switch can transmit a signal to the power unit 135 to control the power unit 135 to stop operating, thereby stopping the transmission element 132 at the current position and the chassis body 110 at the current position.

[0139] For example, the power unit 135 may be equipped with a Hall code disk. By setting the Hall code disk, when the inductive switch is triggered, the counter on the Hall code disk that records the number of motor rotations can be reset to zero, thereby periodically resetting and calibrating the counter to avoid accumulated errors affecting the accuracy of the lifting height of the chassis body 110.

[0140] In some examples, the inductive switch can be a proximity switch. A proximity switch can also be called a proximity sensor. When the drive member 132 moves to drive the chassis body 110 down, the inductive switch moves closer to the positioning member 131. When the positioning member 131 enters the sensing area of ​​the inductive switch, the drive member 132 can be controlled to stop moving.

[0141] For example, when the inductive switch is a proximity switch, it may be, but is not limited to, an inductive proximity switch, a capacitive proximity switch, a photoelectric proximity switch, or an ultrasonic proximity switch.

[0142] Taking an inductive proximity switch as an example, when the limiting part 1311 of the positioning member 131 is located in the sensing area of ​​the sensor, the magnetic field characteristics of the sensing area can be changed, thereby triggering the inductive switch. The inductive switch can control the transmission member 132 to stop moving.

[0143] In some feasible implementations, the inductive switch of this application embodiment has opposing transmitting and receiving portions. When the transmission member 132 is in the lowered position, a portion of the positioning member 131 is located between the transmitting and receiving portions, and the transmission member 132 stops moving.

[0144] In the embodiments of this application, see Figure 3 and Figure 6 As shown, the inductive switch can be a photosensor. When the transmission member 132 is in the rising position, there is a gap between the partial positioning member 131 and the inductive switch. The positioning member 131 does not block the transmitter and receiver, and the inductive switch is not triggered at this time. When the transmission member 132 is in the falling position, the partial positioning member 131 is located between the transmitter and receiver, and the light signal emitted by the transmitter is blocked by the positioning member 131, so that the receiver cannot receive the light signal, thereby triggering the inductive switch to control the transmission member 132 to stay in the rising position. At this time, the chassis body 110 is in the normal state.

[0145] In some examples, an inductive switch may be provided on the limiting member 134. The limiting member 134 has a groove 134a through which the limiting part 1311 of the positioning member 131 passes. The transmitting part and the receiving part may be located on opposite inner walls of the groove 134a. When the limiting part 1311 is located within the groove 134a, the limiting part 1311 can block the transmitter and the receiver, preventing optical signal transmission between them, thereby controlling the positioning member 131 to stop at the current position (rising position).

[0146] This application also provides a cleaning device, which may include the chassis structure 100 in any of the above embodiments.

[0147] Cleaning equipment may include a roller brush. The roller brush may be positioned on the side of the chassis structure 100 facing the surface to be cleaned. The rotation of the roller brush can collect dirt, hair, and other contaminants from the surface to be cleaned. Furthermore, the roller brush can also reach into the crevices and textures of the floor to effectively clean hidden dirt, breaking up deep-seated dust and grime, making it easier to suck into the dust box.

[0148] The cleaning equipment may also include a side brush. The side brush may be located on the side of the chassis structure 100. The side brush can be used to clean hard-to-reach areas such as corners. The side brush can effectively agitate and collect dust in the corners, and then the roller brush will transport the dirt to the dust box.

[0149] The cleaning equipment may also include a mop and a water tank. The mop can be fixed to the side of the chassis structure 100 facing the surface to be cleaned. The liquid in the water tank can temporarily mop the surface to be cleaned, thereby improving the cleaning effect.

[0150] This application also provides a cleaning system, which may include a base station and cleaning equipment. The cleaning equipment may be placed on the base station.

[0151] The base station can have a charging function. When cleaning equipment is placed on the base station, the base station can charge the cleaning equipment.

[0152] Base stations can also have cleaning functions. When cleaning equipment is placed on a base station, it can clean the roller brush, mop, side brush, and other structures on the equipment.

[0153] It should be noted that the numerical values ​​and ranges involved in this application are approximate values. Due to the influence of the manufacturing process, there may be a certain range of errors, which can be considered negligible by those skilled in the art.

[0154] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0155] In the description of this application, it should be understood that the terms “center,” “length,” “width,” “thickness,” “top,” “bottom,” “upper,” “lower,” “left,” “right,” “front,” “rear,” “vertical,” “horizontal,” “inner,” “outer,” “axial,” and “circumferential” used to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the indicated position or component must have a specific orientation, specific structure, or specific operation, and therefore should not be construed as a limitation of this utility model.

[0156] The devices or elements referred to in the embodiments of this application or implied herein must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of this application. In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0157] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in a sequence other than those illustrated or described herein.

[0158] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0159] The term "multiple" in this article refers to two or more. The term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Furthermore, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects; in formulas, the character " / " indicates a "division" relationship between the preceding and following related objects.

[0160] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application.

[0161] It is understood that, in the embodiments of this application, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

Claims

1. A chassis structure (100), characterized in that, include: Chassis body (110); The walking wheel (120) is connected to the chassis body (110) via a rotating shaft (122), and the walking wheel (120) is provided with a drive unit (121); A lifting mechanism (130) is provided, comprising a positioning component (131) and a transmission component (132). The transmission component (132) is disposed on the chassis body (110). The positioning component (131) and the transmission component (132) cooperate to move. The transmission component (132) is used to drive the chassis body (110) to switch between a normal state and a raised state. The positioning component (131) is connected to the drive unit (121). The chassis body (110) in the raised state has a higher horizontal height than the chassis body (110) in the normal state.

2. The chassis structure (100) according to claim 1, characterized in that, The drive unit (121) is located on the side of the positioning member (131) facing the surface to be cleaned, and the transmission member (132) has an upward position and a downward position relative to the positioning member (131) along the first direction (X); When the transmission component (132) is in the lowered position, the chassis body (110) is in the normal state; when the transmission component (132) is in the raised position, the chassis body (110) is in the raised state.

3. The chassis structure (100) according to claim 2, characterized in that, The transmission member (132) extends along the first direction (X), the positioning member (131) is sleeved on the outside of the transmission member (132), and the transmission member (132) and the positioning member (131) are threadedly connected. The transmission component (132) can rotate about its own axis. The transmission component (132) rotates in the forward or reverse direction to drive the chassis body (110) to switch between the normal state and the raised state.

4. The chassis structure (100) according to claim 2, characterized in that, The rotating shaft (122) and the driving part (121) have a distance along the second direction (Y); The rotating shaft (122) is used to push the chassis body (110) upward when the transmission member (132) moves to the rising position, so that the chassis body (110) is in the raised state.

5. The chassis structure (100) according to claim 2, characterized in that, The chassis body (110) is provided with a slide (110a) extending along a first direction (X), and part of the positioning member (131) is located in the slide (110a).

6. The chassis structure (100) according to any one of claims 1 to 4, characterized in that, The lifting mechanism (130) further includes a guide (133) extending along a first direction (X), and a positioning member (131) sleeved on the outside of the guide (133). The guide (133) is used to constrain the transmission member (132) to move relative to the positioning member (131) along the first direction (X).

7. The chassis structure (100) according to claim 2, characterized in that, The lifting mechanism (130) further includes a limiting member (134), which is disposed on the chassis body (110) and is located on the side of the positioning member (131) facing away from the surface to be cleaned. The positioning member (131) is provided with a limiting part (1311). When the positioning member (131) is in the rising position, the limiting part (1311) is connected to the limiting member (134).

8. The chassis structure (100) according to claim 2, characterized in that, The lifting mechanism (130) also includes a sensor switch, which is disposed on the chassis body (110) and located on the side of the positioning member (131) facing away from the surface to be cleaned. The sensor switch is used to control the start and stop of the transmission member (132). When the inductive switch corresponds to the positioning element (131), the transmission element (132) stops operating.

9. The chassis structure (100) according to claim 8, characterized in that, The inductive switch has a transmitting part and a receiving part facing each other. When the transmission member (132) is in the descending position, part of the positioning member (131) is located between the transmitting part and the receiving part, and the transmission member (132) stops moving.

10. The chassis structure (100) according to claim 2, characterized in that, The lifting mechanism (130) also includes a power unit (135) for providing power to the transmission component (132); The power unit (135) drives the transmission component (132) to rotate in the forward or reverse direction, so that the chassis body (110) switches between the normal state and the raised state.

11. The chassis structure (100) according to claim 10, characterized in that, The power unit (135) and the transmission component (132) are arranged side by side along the second direction (Y), and the power unit (135) and the transmission component (132) are connected in a transmission manner.

12. A cleaning device, characterized in that, Includes the chassis structure (100) as described in any one of claims 1 to 11.

13. A cleaning system, characterized in that, include: Base station; And the cleaning device as described in claim 12, wherein the cleaning device may be placed on the base station.

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