Cleaning equipment and cleaning system

Abstract

The utility model provides cleaning equipment and a cleaning system, and relates to the technical field of intelligent household appliances, the cleaning equipment comprises an equipment main body and a walking assembly, the equipment main body is provided with the cleaning system, the cleaning system is used for cleaning the ground, the walking assembly is arranged on the equipment main body, and the walking assembly comprises walking wheels; suction cup structures are arranged on the peripheral surfaces of the walking wheels and used for enabling adsorption force to be generated between the walking wheels and the ground when the cleaning equipment walks. When the cleaning equipment walks on the ground with water, if the suction cup structure is extruded between the suction cup walking wheels and the ground, the suction cup structure is extruded, deformed and pressed on the ground under the action of the self weight of the cleaning equipment, so that air and water in the suction cup structure are extruded out, a vacuum state is formed, and the suction cup structure is adsorbed on the ground; under the adsorption action of the sucker structure, the ground gripping capacity of the sucker walking wheel is improved, and the situation that the cleaning equipment slips is effectively prevented.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent household appliances, and particularly relates to a cleaning device and a cleaning system. BACKGROUND

[0002] A robot vacuum cleaner, also known as an automatic cleaner, an intelligent cleaner, or a robot cleaner, is a kind of intelligent household appliance that can automatically clean the floor of a room. However, the robot vacuum cleaner on the market may slip on a water ground. CONTENT

[0003] The purpose of the embodiments of the present application is to provide a cleaning device and a cleaning system to solve the technical problem that the robot vacuum cleaner may slip during travel in the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is:

[0005] The first aspect of the present application provides a cleaning device, comprising:

[0006] A device body, the device body being provided with a cleaning system, the cleaning system being used for cleaning the ground;

[0007] A walking assembly, the walking assembly being arranged on the device body, the walking assembly comprising a walking wheel, a suction disc structure being arranged on the outer circumferential surface of the walking wheel, the suction disc structure being used for generating an adsorption force between the walking wheel and the ground when the cleaning device is walking.

[0008] In some implementations, the device body is provided with a plurality of walking wheels, wherein the outer circumferential surface of at least one walking wheel is provided with a plurality of suction disc structures.

[0009] In some implementations, the plurality of walking wheels comprises a driving wheel, and the outer circumferential surface of at least the driving wheel is provided with a suction disc structure.

[0010] In some implementations, the suction disc structure is arranged on the relief of the walking wheel.

[0011] In some implementations, the reliefs are arranged in a circle along the circumferential direction of the walking wheel, and more than one circle of reliefs is arranged along the axial direction parallel to the walking wheel.

[0012] In some implementations, the reliefs of adjacent two circles are arranged in a staggered manner, and each relief is provided with more than one suction disc structure.

[0013] In some implementations, the suction disc structure is pasted on the walking wheel, or the suction disc structure is integrally formed on the walking wheel, or the suction disc structure is detachably connected to the walking wheel.

[0014] In some implementations, the traveling wheel includes a hub and a tire, with the tire mounted on the hub and suction cup structures distributed on the tire.

[0015] In some implementations, the suction cup structure is annular with openings at both ends, and the end with the smaller opening area is fixed to the wheel; or, one end of the suction cup structure is open, and the open end of the suction cup structure is positioned away from the wheel.

[0016] In some implementations, the suction cup structure is arranged in a circular, square, or elliptical shape.

[0017] In some implementations, the cleaning system includes dry cleaning systems and / or wet cleaning systems.

[0018] A second aspect of this application provides a cleaning system, including a cleaning base station and cleaning equipment provided by any of the above-described technical solutions.

[0019] The beneficial effects of this application are as follows: When the cleaning equipment moves on a wet surface, if the suction cup structure is pressed between the suction cup wheel and the ground, the weight of the cleaning equipment itself will deform the suction cup structure and press it onto the ground, causing the air and water inside the suction cup structure to be squeezed out, creating a vacuum state that allows the suction cup structure to adhere to the ground. The adhesion of the suction cup structure increases the grip of the wheel, effectively preventing the cleaning equipment from slipping and reducing the probability of slipping on wet surfaces. As the cleaning equipment moves continuously, the suction cup structure is forced to separate from the ground by the rotation of the suction cup wheel. Since several suction cup structures are provided on the suction cup wheel, as the suction cup wheel rotates, some suction cup structures are continuously deformed and pressed onto the ground. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the cleaning equipment provided in the embodiments of this application;

[0022] Figure 2 This is a bottom view of the cleaning equipment provided in an embodiment of this application;

[0023] Figure 3 A partial schematic diagram of the drive wheel on the cleaning equipment provided in an embodiment of this application;

[0024] Figure 4This is a schematic diagram of a suction cup structure provided in an embodiment of this application;

[0025] Figure 5 This is a cross-sectional schematic diagram of another suction cup structure provided in an embodiment of this application;

[0026] Figure 6 This is a schematic diagram of the tire section provided in an embodiment of this application;

[0027] Figure 7 for Figure 6 A magnified view of a portion of point A in the middle.

[0028] The following are the labeling elements in the figure:

[0029] 100 - Cleaning equipment;

[0030] 1-Walking wheel; 2-Suction cup structure; 3-Roller brush; 4-Mop cloth; 5-Side mop;

[0031] 11-Drive wheel; 12-Non-drive wheel;

[0032] 111 - Wheel hub; 112 - Tire section;

[0033] 1121 - First end face of the tire; 1122 - Second end face of the tire; 1123 - Raised ridge; 1124 - Main body; 1125 - Engaging part;

[0034] 11231 - Mounting surface;

[0035] 11241 - Slot;

[0036] 21-First end of suction cup; 22-Second end of suction cup; 23-Suction cup cavity; 24-Open end; 25-Non-open end. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings. The embodiments described with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0038] In the description of this application, it should be understood that the terms "length", "width", "thickness", "top", "bottom", "inner", "outer", "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0039] To facilitate a clear description of the technical solutions of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0040] In this application, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to 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 this application according to the specific circumstances.

[0041] In this application, "and / or" is merely a way of describing the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0042] It should be noted that, in this application, the words "in one embodiment," "exemplarily," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "in one embodiment," "exemplarily," or "for example" should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of words such as "in one embodiment," "exemplarily," and "for example" is intended to present the relevant concepts in a specific manner.

[0043] Please see Figures 1-2 , Figure 1 This is a schematic diagram of the structure of the cleaning device 100 provided in the embodiments of this application. Figure 2 This is a bottom view of the cleaning equipment 100 provided in an embodiment of this application.

[0044] The cleaning device 100 provided in this application embodiment can automatically complete the cleaning work of the surface to be cleaned. The cleaning device 100 can be any one of a sweeping robot, a mopping robot, a floor washing robot, or a sweeping and mopping robot.

[0045] In one example, the cleaning device 100 can automatically plan a cleaning route. By incorporating various sensors and intelligent algorithms, the cleaning device 100 can automatically sense the surrounding environment and plan the optimal cleaning path.

[0046] In one example, when the cleaning device 100 completes its cleaning task or when its power is low, the cleaning device 100 will automatically search for the location of the cleaning base station. Once the location of the cleaning base station is determined, the cleaning device 100 can automatically travel to the location of the cleaning base station.

[0047] In one specific example, the cleaning device 100 includes a main unit, a control system, a drive system, a sensing system, and a cleaning system.

[0048] The sensing system is electrically connected to the control system. The sensing system provides the control system with various position and motion status information of the cleaning equipment 100. In one example, the sensing system includes, but is not limited to, cameras, laser rangefinders, infrared sensors, and gyroscopes.

[0049] The cleaning system is mounted on the main unit of the equipment and electrically connected to the control system. The cleaning system includes a dry cleaning system and / or a wet cleaning system. The dry cleaning system mainly sweeps the surface to be cleaned, while the wet cleaning system mainly mops the surface to be cleaned.

[0050] In one example, the dry cleaning system includes a roller brush 3, a roller brush drive structure, a fan, and a dustbin; see [link to relevant documentation]. Figure 2 The diagram illustrates the roller brush 3. The roller brush 3 is connected to a roller brush drive structure, which rotates the roller brush 3 when in operation. The roller brush 3 has some interference with the ground; as it rotates, it sweeps up debris from the ground and carries it to the suction port between the roller brush 3 and the dust box. The debris is then drawn into the dust box by the suction-forced air generated by the fan and passing through the dust box.

[0051] In one example, the dry cleaning system also includes a side brush with a rotating shaft, which, when rotated, can move debris into the area of ​​the roller brush 3 of the cleaning device 100 to improve the cleaning ability of the cleaning device 100.

[0052] In one example, the wet cleaning system includes a clean water tank and a mop 4. The water in the clean water tank is used to supply water to the mop 4, so that the cleaning device 100 can keep the mop 4 wet while mopping during the cleaning process, thereby ensuring the cleaning effect.

[0053] In one example, the height of the mop 4 is adjustable. When mopping is not required, the height of the mop 4 can be controlled to prevent the mop 4 from always being in contact with the ground, thus increasing the resistance to the movement of the cleaning equipment 100.

[0054] In one example, the mop 4 is attached to the bottom of the main unit of the device; in other examples, the mop 4 is rotatably mounted on the bottom of the main unit of the device. In this case, the wet cleaning system also includes a mop rotation drive connected to the mop 4. The mop rotation drive is used to drive the mop 4 to rotate for better cleaning of the floor.

[0055] In one example, the wet cleaning system also includes a side mop 5 with a rotating shaft, which can clean the corners of the house as it rotates.

[0056] In one example, the height of the side drag 5 is adjustable.

[0057] The drive system is supported on the main unit of the equipment and electrically connected to the control system. When the drive system is activated, the cleaning equipment 100 can move on the ground.

[0058] In one example, the drive system includes a walking drive mechanism and a walking assembly. The walking assembly includes multiple walking wheels 1, and the walking wheels 1 connected to the walking drive mechanism are called drive wheels 11. The walking drive mechanism is electrically connected to the control system. When the walking drive mechanism is activated, it can drive the drive wheels 11 to rotate, thereby enabling the cleaning equipment 100 to move on the ground.

[0059] In a specific example, there are two walking wheels 1, both of which are connected to the walking drive mechanism, and the two walking wheels 1 are arranged at a distance from each other at the bottom of the main unit of the device.

[0060] The two drive wheels 11 form a differential drive wheel set, meaning that the rotational speed of the two drive wheels 11 can be controlled independently. The cleaning equipment 100 can achieve various movement modes such as turning, moving forward, and moving backward by the speed difference between the different drive wheels 11.

[0061] Specifically, the walking drive mechanism includes a first drive mechanism and a second drive mechanism, with two drive wheels 11, namely the first drive wheel and the second drive wheel. The first drive wheel is connected to the first drive mechanism, and the second drive wheel is connected to the second drive mechanism. When the first drive wheel is located to the left of the cleaning device 100 relative to the second drive wheel, if the rotational speeds of the first drive wheel and the second drive wheel are the same, the cleaning device 100 moves straight; when the rotational speed of the first drive wheel is greater than that of the second drive wheel, the cleaning device 100 turns right; and when the rotational speed of the second drive wheel is greater than that of the first drive wheel, the cleaning device 100 turns left.

[0062] In one example, both the first drive mechanism and the second drive mechanism include a drive motor and a transmission structure, with the drive motor connected to the corresponding drive wheel 11 via the transmission structure.

[0063] In one example, the plurality of traveling wheels 1 include not only traveling wheels 1 connected to the traveling drive mechanism, i.e., drive wheels 11, but also traveling wheels 1 not connected to the traveling drive mechanism, i.e., non-drive wheels (universal wheels) 12.

[0064] For a specific example, please see Figure 2There are three walking wheels 1. Two of the three walking wheels 1 are drive wheels 11, and the other walking wheel 1 is a non-drive wheel 12 that is not connected to the walking drive mechanism.

[0065] In one example, the non-drive wheel 12, which is not connected to the walking drive mechanism, is a swivel wheel.

[0066] For a specific example, please see Figure 2 The diagram illustrates the positional relationship between the drive wheel 11, the non-drive wheel 12, the mop 4, the roller brush 3, and the side mop 5. Along the forward direction of the cleaning device 100, the roller brush 3 is positioned in front of the mop 4, and the non-drive wheel 12 is positioned in front of the roller brush 3. The two drive wheels 11 are positioned on both sides of the roller brush 3, and the mop 4 is positioned close to one of the drive wheels 11.

[0067] Please see Figures 3-5 , Figure 3 This is a partial schematic diagram of the drive wheel 11 on the cleaning device 100 provided in the embodiments of this application. Figure 4 This is a schematic diagram of a suction cup structure 2 provided in an embodiment of this application. Figure 5 This is a cross-sectional schematic diagram of another suction cup structure 2 provided in an embodiment of this application.

[0068] In one embodiment, at least one of the wheels 1 of the drive system has a plurality of suction cup structures 2 provided on its outer peripheral surface.

[0069] The outer circumferential surface of the traveling wheel 1 refers to the surface of the traveling wheel 1 that contacts the ground when it travels on the ground. Please refer to [link to relevant documentation]. Figure 3 The diagram illustrates the suction cup structure 2 disposed on the outer circumferential surface of the drive wheel 11.

[0070] As described above, in one example, the drive system includes a walking wheel 1 (i.e., drive wheel 11) connected to the walking drive mechanism and a walking wheel 1 (i.e., non-drive wheel 12) not connected to the walking drive mechanism. A suction cup structure 2 can be provided on the outer peripheral surface of the drive wheel 11, or a suction cup structure 2 can be provided on the outer peripheral surface of the non-drive wheel 12, or a suction cup structure 2 can be provided on both the outer peripheral surface of the drive wheel 11 and the outer peripheral surface of the non-drive wheel 12.

[0071] In one example, each of the driving wheels 1 in the drive system has several suction cup structures 2 on its outer peripheral surface.

[0072] In one example, the suction cup structure 2 is non-removably mounted on the wheel 1; in other examples, the suction cup structure 2 is detachably mounted on the wheel 1.

[0073] In one example, see Figure 3The traveling wheel 1 includes a hub portion 111 and a tire portion 112. The tire portion 112 is fitted onto the hub portion 111, and the suction cup structure 2 is distributed on the tire portion 112. In other examples, the traveling wheel 1 is an integral structure, and the suction cup structure 2 is disposed on the outer circumferential surface of the traveling wheel 1.

[0074] In one example, the suction cup structure 2 is made of the same material as the tire part 112; in other examples, the suction cup structure 2 is made of a different material than the tire part 112.

[0075] The wheels on existing cleaning equipment 100 are typically designed with the wheel material in mind to increase friction between the wheels and the ground. However, when the ground is smooth, such as when there is water, a water film forms between the wheels and the ground. This water film acts like a lubricant, reducing friction and affecting the wheels' grip. When the wheels have insufficient grip, they are prone to slipping, causing relative sliding between the wheels and the ground. When the cleaning equipment 100 slips, it may deviate from its normal path, increasing the likelihood of collisions with walls or other objects.

[0076] In this embodiment of the application, by providing a plurality of suction cup structures 2 on the outer peripheral surface of at least one walking wheel 1, the suction cup structures 2 can increase the grip of the walking wheel 1 when the cleaning device 100 walks on the ground.

[0077] Specifically, let me first explain the principle of the suction cup: When the suction cup is pressed onto the surface of an object, the air inside the suction cup is squeezed out; due to its own elasticity, the suction cup will try to return to its original shape, but at this time the space between the suction cup and the surface of the object has been sealed, and external air cannot enter, so the air pressure inside the suction cup is lower than the external atmospheric pressure. Under the action of atmospheric pressure difference, the suction cup is pressed tightly onto the surface of the object.

[0078] In one example, a cavity is formed between the suction cup structure 2 and the outer peripheral surface of the wheel 1, so that when the air in the cavity is emptied, the inner surface of the suction cup structure 2 can adhere to the ground; in other examples, the inner surface of the suction cup structure 2 itself forms a cavity, so that when the air in the cavity is emptied, the inner surface of the suction cup structure 2 can adhere to the ground.

[0079] A cavity is formed between the suction cup structure 2 and the outer peripheral surface of the wheel 1. For example, in a specific example, please refer to [reference needed]. Figure 4The suction cup structure 2 is annular with openings at both ends. The two ends of the suction cup structure 2 are a first suction cup end 21 and a second suction cup end 22, respectively. The opening area of ​​the first suction cup end 21 is smaller than the opening area of ​​the second suction cup end 22. The first suction cup end 21 is fixed to the wheel 1, and the second suction cup end 22 is positioned away from the wheel 1. In other words, the inner surface of the suction cup structure 2 and the outer circumferential surface of the wheel 1 together form a cavity. When the air inside the cavity is emptied, the inner surface of the suction cup structure 2 can adhere to the ground.

[0080] By setting the suction cup structure 2 to be annular with openings at both ends, the volume of the cavity can be increased as much as possible when the size of the suction cup structure 2 along the radial direction of the traveling wheel 1 is limited, so as to improve the adsorption capacity of the suction cup structure 2.

[0081] The suction cup structure 2 forms a cavity on its inner surface. For example, in a specific example, please refer to [reference needed]. Figure 5 The inner side of the suction cup structure 2 forms a suction cup cavity 23, that is, one end of the suction cup structure 2 is an open end 24 and the other end is a non-open end 25. The open end 24 of the suction cup structure 2 is set away from the walking wheel 1, and the non-open end 25 of the suction cup structure 2 is connected to the walking wheel 1. When the air in the suction cup cavity 23 is emptied, the inner side of the suction cup structure 2 can be adsorbed on the ground.

[0082] The suction cup structure 2 is designed to form a cavity on its inner side, so that the suction cup structure 2 can be fixed to the outer circumferential surface of the wheel 1 through the non-open end 25 of the suction cup structure 2.

[0083] Please see Figure 3 The outer circumferential surface of the walking wheel 1 is provided with several suction cup structures 2. For ease of description, the walking wheel 1 with suction cup structures 2 is referred to as the suction cup walking wheel. When the cleaning device 100 walks on a wet ground, if the suction cup structures 2 are pressed between the suction cup walking wheel and the ground, the weight of the cleaning device 100 itself will deform the suction cup structures 2 and press them onto the ground, causing the air and water inside the suction cup structures 2 to be squeezed out, creating a vacuum state that allows the suction cup structures 2 to adhere to the ground. The adhesion of the suction cup structures 2 increases the grip of the suction cup walking wheel and prevents the cleaning device 100 from slipping. As the cleaning device 100 continues to move, the suction cup structures 2 are forced to separate from the ground by the rotation of the suction cup walking wheel. Since several suction cup structures 2 are provided on the suction cup walking wheel, as the suction cup walking wheel rotates, suction cup structures 2 are continuously deformed and pressed onto the ground.

[0084] In some scenarios, comparing the cleaning device 100 on dry and wet surfaces, the suction force between the suction cup structure 2 and the surface is relatively stronger on wet surfaces. The specific reasons are as follows: When the suction cup structure 2 is dry, there may be tiny gaps between it and the surface it is adsorbed onto, allowing air to easily enter and affecting the adsorption effect. However, when the suction cup structure 2 is wet, the water has fluidity and filling properties, allowing it to flow into these tiny depressions and gaps, enabling the suction cup structure 2 to adhere more tightly to the surface of the object, increasing the contact area between the two. According to the principle of adsorption, the larger the contact area, the greater the adsorption force usually is. This makes it easier to form a relative vacuum state inside the suction cup structure 2, thereby increasing the internal and external pressure difference, improving the adsorption force, and thus preventing the cleaning device 100 from slipping on wet surfaces.

[0085] Additionally, it should be noted that the output power of the drive motor is equal to the torque multiplied by the angular velocity. That is, when the suction cup structure 2 is set on the walking wheel 1, it will increase the resistance of the cleaning equipment 100 to a certain extent, which will increase the torque of the drive motor and affect the rotation speed of the walking wheel 1. By increasing the input power of the drive motor, the rotation speed of the walking wheel 1 will not be affected when the suction cup structure 2 is set on the walking wheel 1.

[0086] In one example, the wheel 1 with suction cup structure 2 is referred to as the suction cup wheel. The suction cup structure 2 is arranged in a circle around the circumference of the suction cup wheel, and in more than one circle along the axis parallel to the axis of the suction cup wheel. For example, one circle of suction cup structure 2, two circles of suction cup structure 2, or three circles of suction cup structure 2 may be arranged along the axis parallel to the axis of the suction cup wheel.

[0087] When the suction cup structure 2 is arranged in a circle along the circumferential direction of the suction cup traveling wheel, the spacing between two adjacent suction cup structures 2 should be reasonably set so that when the suction cup structure 2 adsorbed on the ground separates from the ground under the rotation of the traveling wheel 1, the other suction cup structures 2 can be squeezed by the traveling wheel 1 in time to be adsorbed on the ground.

[0088] In one example, when two or more suction cup structures 2 are arranged along the axis parallel to the suction cup traveling wheel, a reference surface is defined, which is perpendicular to the axis of the suction cup traveling wheel. When the suction cup structures 2 on the suction cup traveling wheel are projected onto the reference surface, the projections of each suction cup structure 2 on the reference surface form a closed loop. That is, in this example, when the cleaning device 100 travels along the ground, when the suction cup structures 2 adhering to the ground separate from the ground under the rotation of the traveling wheel 1, other suction cup structures 2 can be promptly squeezed by the traveling wheel 1 to adhere to the ground.

[0089] In one example, when two or more suction cup structures 2 are arranged along the axis parallel to the suction cup wheel, a reference surface is defined, which is perpendicular to the axis of the suction cup wheel. When the suction cup structures 2 on the suction cup wheel are projected onto the reference surface, the projection of each suction cup structure 2 on the reference surface is not a closed loop. For example, the pattern formed by the projection of each suction cup structure 2 on the reference surface is a pattern in which the projection area is spaced apart along the circumferential direction. The spacing between two adjacent projection areas should be reasonably set so that when the suction cup structure 2 adsorbed on the ground separates from the ground under the rotation of the wheel 1, other suction cup structures 2 can be squeezed by the wheel 1 in time to be adsorbed on the ground.

[0090] In one example, the suction cup structure 2 is arranged in a circular, square, or elliptical shape, etc. See also... Figure 3 The illustration shows that the suction cup structure 2 is arranged in a circular shape. That is, the specific shape of the suction cup structure 2 is not specifically limited in this embodiment. The shape of the suction cup structure 2 is not limited to a circle, square, or ellipse. It can also be other shapes, as long as it can be able to adhere to the ground when the suction cup structure 2 is pressed between the suction cup wheel and the ground.

[0091] In this embodiment, by providing a plurality of suction cup structures 2 on at least one of the wheels 1 of the cleaning device 100, when the suction cup structures 2 are pressed between the wheel and the ground, the weight of the cleaning device 100 itself allows the suction cup structures 2 to adhere to the ground. The adhesion of the suction cup structures 2 increases the grip of the wheel 1, thereby effectively preventing the cleaning device 100 from slipping and reducing the probability of the cleaning device 100 slipping on wet surfaces, thus reducing the possibility of the cleaning device 100 colliding with walls or other objects due to slipping.

[0092] In one embodiment, at least a plurality of suction cup structures 2 are provided on the outer peripheral surface of the drive wheel 11.

[0093] In this embodiment, when the drive system includes a drive wheel 11 and a non-drive wheel 12, a suction cup structure 2 can be provided on the drive wheel 11, or a suction cup structure 2 can be provided on both the drive wheel 11 and the non-drive wheel 12.

[0094] In one example, a plurality of suction cup structures 2 are provided on the outer peripheral surface of one drive wheel 11 in the drive system; in other examples, suction cup structures 2 are provided on the outer peripheral surface of all drive wheels 11 in the drive system.

[0095] As described above, as the cleaning equipment 100 moves continuously, the suction cup structure 2 adhering to the ground is forced to separate from the ground by the rotation of the suction cup traveling wheel. Since the driving wheel 11 rotates actively under the drive of the traveling drive mechanism, the actively rotating driving wheel 11 can easily separate the suction cup structure 2 adhering to the ground from the ground. Therefore, in this embodiment, it is preferable to provide at least a number of suction cup structures 2 on the outer circumferential surface of the driving wheel 11.

[0096] In addition, the non-drive wheels 12 on the cleaning equipment 100 are usually omnidirectional wheels, and the diameter of the non-drive wheels 12 is smaller than that of the drive wheels 11. This results in a relatively small circumferential surface area of ​​the non-drive wheels 12, making it relatively difficult to arrange the suction cup structure 2 on the outer circumferential surface of the non-drive wheels 12. However, it is relatively convenient to arrange the suction cup structure 2 on the outer circumferential surface of the drive wheels 11. Furthermore, since the circumferential surface area of ​​the drive wheels 11 is relatively large, a large number of relatively large suction cup structures 2 can be arranged to better increase the suction capacity of the suction cup structures 2 to the ground, thereby improving the grip of the drive wheels 11.

[0097] In this embodiment, at least a plurality of suction cup structures 2 are provided on the outer peripheral surface of the drive wheel 11 to better increase the adhesion to the ground and prevent the cleaning device 100 from slipping.

[0098] Regarding the connection between the suction cup structure 2 and the wheel 1, in one embodiment, the suction cup structure 2 is integrally formed on the wheel 1.

[0099] In one example, the suction cup structure 2 is integrally formed with the tire part 112 of the wheel 1, for example, the suction cup structure 2 and the tire part 112 are integrally cast.

[0100] In one example, both the suction cup structure 2 and the tire part 112 are made of rubber.

[0101] In this embodiment, by integrally molding the suction cup structure 2 onto the walking wheel 1, the processing and manufacturing of the walking wheel 1 can be facilitated, thereby improving production efficiency.

[0102] Regarding the connection between the suction cup structure 2 and the wheel 1, in one embodiment, the suction cup structure 2 is attached to the wheel 1.

[0103] In one example, see Figure 4 The suction cup structure 2 is ring-shaped and open at both ends. The first end 21 of the suction cup structure 2 can be attached to the walking wheel 1.

[0104] In one example, see Figure 5 One end of the suction cup structure 2 is open, and the other end of the suction cup structure 2 without an opening, i.e., the non-open end 25, can be attached to the walking wheel 1.

[0105] In one example, see Figure 5 The non-open end 25 of the suction cup structure 2 is flat to facilitate attaching the suction cup structure 2 to the walking wheel 1.

[0106] In this embodiment, a suction cup structure 2 is attached to the walking wheel 1, and the walking wheel 1 and the suction cup structure 2 can be manufactured separately.

[0107] Regarding the connection between the suction cup structure 2 and the wheel 1, in one embodiment, the suction cup structure 2 is detachably connected to the wheel 1.

[0108] For example, one end of the suction cup structure 2 is open and a connecting part is provided on the non-open end 25 of the suction cup structure 2, and the connecting part can be detachably connected to the walking wheel 1.

[0109] In one example, the connecting part can be inserted into the traveling wheel 1, and the connecting part is tightly fitted with the traveling wheel 1; in other examples, the connecting part can be threadedly connected to the traveling wheel 1.

[0110] In this embodiment, the suction cup structure 2 is detachably connected to the walking wheel 1 to facilitate the replacement of the suction cup structure 2.

[0111] Please see Figures 6-7 , Figure 6 This is a schematic diagram of the tire section 112 provided in an embodiment of this application. Figure 7 for Figure 6 A magnified view of a portion of point A in the middle.

[0112] In one embodiment, the suction cup structure 2 is disposed on the ridges 1123 of the walking wheel 1.

[0113] By setting a raised texture 1123 on the outer peripheral surface of the walking wheel 1 to increase the friction between the walking wheel 1 and the ground, the suction cup structure 2 can be set on the raised texture 1123 of the walking wheel 1 so that the raised texture 1123 and the ground can press the suction cup structure 2 together, so that the suction cup structure 2 can be attached to the ground.

[0114] As described above, in one example, the wheel 1 includes a hub portion 111 and a tire portion 112, with the tire portion 112 fitted onto the hub portion 111. The tire portion 112 has raised ridges 1123 formed thereon, and the suction cup structure 2 is disposed on the raised ridges 1123 of the tire portion 112.

[0115] For a specific example, please see Figure 6 The tire portion 112 includes a main body portion 1124 and a ridge 1123. The main body portion 1124 is annular, and the ridge 1123 is formed on the outer peripheral surface of the main body portion 1124.

[0116] In one example, the tire portion 112 is detachably mounted on the hub portion 111.

[0117] In one example, see Figure 6 A snap-fit ​​portion 1125 is provided on the inner side of the main body portion 1124, which is used to insert the hub portion 111.

[0118] In one example, the wheel 1 with suction cup structure 2 is called a suction cup wheel, and each ridge 1123 of the suction cup wheel is provided with suction cup structure 2; in other examples, some ridges 1123 of the suction cup wheel are provided with suction cup structure 2.

[0119] Additionally, it should be noted that the shape of the raised texture 1123 should be sufficient to allow the suction cup structure 2 to be attached to the raised texture 1123. For example, please refer to... Figure 7 A mounting surface 11231 is formed on the raised texture 1123, and the suction cup structure 2 is disposed on the mounting surface 11231 of the raised texture 1123.

[0120] In one example, one or more suction cup structures 2 are provided on the mounting surface 11231 of the texture 1123; for example, one, two, or three suction cup structures 2 are provided on the mounting surface 11231 of the texture 1123. See also Figure 6 The diagram illustrates two suction cup structures 2 arranged side by side on the raised pattern 1123 along the axis parallel to the tire part 112.

[0121] In one example, the suction cup structures 2 set on the ridge 1123 are all the same size.

[0122] In one example, see Figure 6 and Figure 7 The cross-section of the ridge 1123 (the cross-section perpendicular to the axis of the tire part 112) is trapezoidal in shape, so as to facilitate the formation of the mounting surface 11231 for mounting the suction cup structure 2 on the ridge 1123, and at the same time, it also helps to increase the friction between the walking wheel 1 and the ground.

[0123] In one example, the cross-section of the ridge 1123 (the cross-section perpendicular to the axis of the tire portion 112) is an isosceles trapezoid.

[0124] In one example, see Figure 6 and Figure 7 Along the circumferential direction of the tire portion 112, the size of the suction cup structure 2 is larger than the size of the mounting surface 11231; in other examples, along the circumferential direction of the tire portion 112, the size of the suction cup structure 2 is not larger than the size of the mounting surface 11231.

[0125] In one example, see Figure 6The tire portion 112 includes a first tire end face 1121 and a second tire end face 1122. The suction cup structure 2 near the first tire end face 1121 does not protrude from the first tire end face 1121, and the suction cup structure 2 near the second tire end face 1122 does not protrude from the second tire end face 1122. In other examples, the suction cup structure 2 near the first tire end face 1121 protrudes from the first tire end face 1121, and the suction cup structure 2 near the second tire end face 1122 protrudes from the second tire end face 1122.

[0126] In one example, see Figure 7 The projections of each suction cup structure 2 on the convex 1123 onto the convex 1123 are completely on the convex 1123.

[0127] In one example, slots 11241 are provided on both the first end face 1121 and the second end face 1122 of the tire, and the slots 11241 are spaced apart along the circumferential direction of the tire portion 112. See also... Figure 6 This illustrates the slot 11241 on the first end face 1121 of the tire.

[0128] In this embodiment of the application, by setting the suction cup structure 2 on the ridges 1123 of the walking wheel 1, the walking wheel 1 can not only increase its grip on the ground through the suction cup structure 2, but also increase the friction between the walking wheel 1 and the ground through the ridges 1123 formed on the outer peripheral surface of the walking wheel 1.

[0129] In one embodiment, please refer to Figure 6 The raised patterns 1123 are spaced out in a circle along the circumferential direction of the suction cup traveling wheel (the traveling wheel with raised patterns 13 is called the suction cup traveling wheel), and more than one circle of raised patterns 1123 is provided in a direction parallel to the axis of the suction cup traveling wheel.

[0130] In one example, two or more raised rings 1123 are provided along the direction parallel to the axis of the suction cup wheel. For example, two, three, or four raised rings 1123 may be provided along the direction parallel to the axis of the suction cup wheel. Please refer to [link to relevant documentation]. Figure 6 This illustrates two concentric raised lines 1123 arranged along the axis parallel to the suction cup wheel.

[0131] In one example, each of the at least one ring of ridges 1123 is provided with a suction cup structure 2.

[0132] In this embodiment, by limiting the distribution of the raised texture 1123 on the walking wheel 1, it is not only beneficial to increase the friction between the outer circumferential surface of the walking wheel 1 and the ground, but also beneficial to arrange the suction cup structure 2 along the circumferential direction of the walking wheel 1, so that when the cleaning device 100 walks along the ground, when the suction cup structure 2 adsorbed on the ground separates from the ground under the rotation of the walking wheel 1, other suction cup structures 2 can be squeezed by the walking wheel 1 in time to be adsorbed on the ground.

[0133] In one embodiment, please refer to Figure 6 The raised patterns 1123 of adjacent rings are misaligned.

[0134] Please see Figure 6 The diagram illustrates two concentric rings of raised patterns 1123, which are the first and second rings of raised patterns, respectively. Each raised pattern 1123 in the first ring corresponds to the position between two adjacent raised patterns 1123 in the second ring, thus achieving a staggered arrangement of the raised patterns 1123 in the two adjacent rings.

[0135] Define a reference surface, which is perpendicular to the axis of the tire part 112. When the suction cup structure 2 of the tire part 112 is projected onto the reference surface, in two adjacent rings of ridges 1123, the projections of the suction cup structures 2 on the two adjacent ridges 1123 onto the reference surface are spaced apart, or the projections of the suction cup structures 2 on the two adjacent ridges 1123 onto the reference surface intersect.

[0136] In this embodiment, by setting the convex patterns 1123 of two adjacent rings in a staggered manner, it is not only beneficial to increase the friction between the outer circumferential surface of the walking wheel 1 and the ground, but also beneficial to ensure that when the cleaning device 100 walks along the ground, when the suction cup structure 2 adsorbed on the ground separates from the ground under the rotation of the walking wheel 1, the other suction cup structures 2 can be adsorbed on the ground in time under the pressure of the walking wheel 1, thereby effectively preventing the cleaning device 100 from slipping on the wet ground.

[0137] This application provides a cleaning system, including a cleaning base station and a cleaning device 100 provided in any of the above embodiments.

[0138] Regarding the cleaning device 100, as described above, the cleaning device 100 includes multiple wheels 1, wherein at least one wheel 1 has a plurality of suction cup structures 2 disposed on its outer peripheral surface. The suction cup structures 2 increase the grip of the wheel 1, thereby effectively preventing the cleaning device 100 from slipping. The suction cup structures 2 on the wheels 1 have been described in detail above and will not be repeated here.

[0139] The cleaning base station provided in this embodiment works in conjunction with the cleaning equipment 100. The cleaning base station serves as a docking station for the cleaning equipment 100, performing preset operations such as charging the cleaning equipment 100, collecting dust from its dustbin, replenishing water to the cleaning equipment 100, and washing its cleaning cloth. In this embodiment, the cleaning base station can also clean the filter on the cleaning equipment 100.

[0140] In one example, the cleaning base station includes a base structure. When the cleaning device 100 is located on the cleaning base station, it can be supported on the base structure. Under the weight of the cleaning device 100 itself, the suction cup structure 2 is deformed and pressed onto the base structure, causing the air inside the suction cup structure to be squeezed out, creating a vacuum state that allows the suction cup structure 2 to adhere to the base structure. The adhesion of the suction cup structure 2 increases the grip of the wheels, allowing the cleaning device 100 to be stably supported on the base structure, facilitating cleaning operations such as cleaning by the cleaning base station. Furthermore, when the suction cup structure 2 becomes wet, it allows for a tighter fit between the suction cup structure 2 and the base structure, resulting in more stable support of the cleaning device 100 on the base structure.

[0141] When the cleaning equipment 100 needs to leave the cleaning base station, the rotating wheels 1 can force the suction cup structure 2 attached to the base structure to separate from the ground, that is, the suction cup structure 2 on the wheels 1 will not affect the cleaning equipment 100 leaving the cleaning base station.

[0142] In one example, a cleaning assembly is provided on the base structure for cleaning the mop 4 of the cleaning device 100.

[0143] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cleaning device, characterized in that, include: The equipment body is equipped with a cleaning system for cleaning the floor. A walking component is provided on the main body of the device. The walking component includes a walking wheel and a suction cup structure is provided on the outer circumferential surface of the walking wheel. The suction cup structure is used to generate an adsorption force between the walking wheel and the ground when the cleaning device moves.

2. The cleaning equipment as described in claim 1, characterized in that, The main body of the device is provided with a plurality of the walking wheels, wherein at least one of the walking wheels is provided with a plurality of suction cup structures on its outer peripheral surface.

3. The cleaning equipment as described in claim 2, characterized in that, The plurality of walking wheels includes a drive wheel, and the suction cup structure is provided on at least the outer circumferential surface of the drive wheel.

4. The cleaning equipment as described in claim 1, characterized in that, The suction cup structure is disposed on the ridges of the traveling wheel.

5. The cleaning equipment as described in claim 4, characterized in that, The raised patterns are spaced apart along the circumferential direction of the wheel to form a circle, and more than one circle of the raised patterns are arranged along the direction parallel to the axis of the wheel.

6. The cleaning equipment as described in claim 5, characterized in that, The convex patterns of two adjacent rings are staggered, and each convex pattern is provided with one or more suction cup structures.

7. The cleaning equipment as described in claim 1, characterized in that, The suction cup structure is attached to the wheel; or the suction cup structure is integrally formed on the wheel; or the suction cup structure is detachably connected to the wheel.

8. The cleaning equipment as described in claim 7, characterized in that, The traveling wheel includes a hub and a tire. The tire is fitted onto the hub, and the suction cup structure is distributed on the tire.

9. The cleaning equipment as described in claim 1, characterized in that, The suction cup structure is annular and open at both ends, with the end of the suction cup structure with a smaller opening area fixed to the walking wheel; or, one end of the suction cup structure is open, and the open end of the suction cup structure is positioned away from the walking wheel.

10. The cleaning equipment as claimed in claim 1, characterized in that, The suction cup structure is arranged in a circular, square, or elliptical shape.

11. The cleaning equipment as described in any one of claims 1-10, characterized in that, The cleaning system includes dry cleaning systems and / or wet cleaning systems.

12. A cleaning system, characterized in that, Includes a clean base station and a clean device according to any one of claims 1-10.

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