Stair climbing machine and cleaning robot system

Abstract

The utility model provides a stair climbing machine and a cleaning robot system. The stair climbing machine comprises a main body, wherein a mounting opening is formed in the bottom of the main body; the bearing disc is located at the mounting opening and rotationally connected with the main body through the rotating device; the two supporting arms are connected to the two sides of the main body respectively, and the first ends of the supporting arms are rotationally connected with the main body so that the supporting arms can be folded or unfolded relative to the main body; the second end of the supporting arm is rotationally connected with the supporting foot, so that the supporting foot can be folded or unfolded relative to the supporting arm; a first avoiding opening is formed in the position, opposite to a cleaning part of the cleaning robot, of the bearing disc, and the cleaning part makes contact with the surface to be cleaned through the first avoiding opening. Therefore, the stair climbing machine can bear the cleaning robot to achieve the stair climbing operation, the step face of the stair can be cleaned, the operation range and the cleaning range of the cleaning robot are expanded, and the use satisfaction degree of a user is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of smart home, especially to a stair climbing machine and cleaning robot system. BACKGROUND

[0002] With the iteration and development of technology, cleaning robots have entered ordinary family life and gradually realized popularization. The current cleaning robots, such as sweeping machines or sweeping and mopping integrated machines, can realize route planning, automatic obstacle avoidance, and the like, and thus can automatically clean a certain cleaning area without user operation.

[0003] However, the current cleaning robots, due to the limitation of their own structure, can usually be used on flat ground, and cannot meet the cleaning needs of users in application scenarios such as duplex structures with stairs or villas. SUMMARY

[0004] A series of simplified concepts are introduced in the summary part, which will be further described in detail in the specific embodiment part. This part of the utility model does not mean to try to limit the key features and necessary technical features of the claimed technical solution, and even less means to determine the protection scope of the claimed technical solution.

[0005] The embodiment of the utility model provides a stair climbing machine, and the cleaning robot is carried, and the stair climbing machine comprises a main body, an installation opening is formed in the bottom of the main body; a carrying disc and a rotating device, the carrying disc is located at the installation opening and is rotationally connected with the main body through the rotating device, and the carrying disc carries the cleaning robot; a support arm, two support arms are respectively connected to the two sides of the main body, the first end of the support arm is rotationally connected with the main body, so that the support arm can be folded or unfolded relative to the main body; a support foot, the second end of the support arm is rotationally connected with the support foot, so that the support foot can be folded or unfolded relative to the support arm; wherein a first avoiding opening is formed at the position opposite to the cleaning part of the cleaning robot, and the cleaning part is in contact with the surface to be cleaned through the first avoiding opening.

[0006] Further, the bottom of the support foot is provided with a walking wheel, and the walking wheel can rotate and turn.

[0007] Further, the stair climbing machine further comprises: a walking driving part connected to the support foot, the walking driving part drives the walking wheel to rotate; a turning assembly connected to the support foot, the turning assembly drives the walking wheel to turn.

[0008] Further, the stair climbing machine further comprises: a first driving assembly, the first driving assembly comprises a first driving part and a first transmission part, the first driving part is connected to the main body, and the first driving part drives the first end of the support arm to rotate relative to the main body through the first transmission part.

[0009] Further, the stair climbing machine further comprises a second driving assembly, the second driving assembly comprises a second driving part and a second transmission part, the second driving part is connected to the support foot, and the second driving part drives the support foot to rotate relative to the second end of the support arm through the second transmission part.

[0010] Further, the support foot is rotationally connected to the side of the second end away from the main body.

[0011] Further, the support arm and the support foot are arranged in sequence along the height direction of the stair climbing machine.

[0012] Further, when the support arm and the support foot are in the folded state, the second end of the support arm is embedded in the support foot.

[0013] Further, when the support arm and the support foot are in the folded state, the adjacent surfaces of the support arm and the support foot are in close contact.

[0014] Further, the support arm is a telescopic structure, the support arm comprises a first support arm and a second support arm which are nested and relatively movable, the first support arm is rotationally connected to the main body, and the second support arm is rotationally connected to the support foot.

[0015] Further, the support arm further comprises a third driving assembly, the third driving assembly comprises a third driving part and a third transmission part, the third driving part is connected to the first support arm or the second support arm, and the third driving part drives the first support arm and the second support arm to relatively move through the third transmission part.

[0016] Further, the support arm is a rotating structure, the support arm comprises a first support arm and a second support arm which are rotationally connected, the first support arm is rotationally connected to the main body, and the second support arm is rotationally connected to the support foot.

[0017] Further, the support arm further comprises a fourth driving assembly, the fourth driving assembly comprises a fourth driving part and a fourth transmission part, the fourth driving part is connected to the first support arm or the second support arm, and the fourth driving part drives the first support arm to rotate relative to the second support arm through the fourth transmission part.

[0018] Further, the main body is provided with a containing cavity for containing the cleaning robot, the mounting port is arranged on the bottom wall of the containing cavity, and the containing cavity is provided with an opening which is in communication with the bottom wall of the containing cavity and through which the cleaning robot passes.

[0019] Further, the main body comprises a bottom plate and a side plate which enclose the containing cavity, the side plate is provided with the opening, the bottom plate is provided with the mounting port, the main body further comprises a reinforcing plate connected to the bottom plate, and the two ends of the reinforcing plate are connected to the side plates and are distributed on the circumferential side of the mounting port.

[0020] Further, the accommodating cavity is a cuboid, and the reinforcing plates are arranged at least at corners of the cuboid away from the opening and between two adjacent side plates; the number of reinforcing plates at the same corner is one or at least two, and the reinforcing plates are linear or provided with a bending structure.

[0021] Further, when the number of reinforcing plates at the same corner is at least two, the at least two reinforcing plates are arranged in parallel; and / or the adjacent reinforcing plates are connected by a connecting plate.

[0022] Further, the stair climbing machine further comprises a power supply part and a communication part electrically connected with the power supply part, the power supply part is arranged on the main body or the bearing disc; the cleaning robot comprises a charging part and a control system, the charging part of the cleaning robot borne on the bearing disc is in contact with the power supply part, so that the communication part and the control system are electrically connected.

[0023] Further, the bottom of the main body is further connected with a support wheel, and the height of the support wheel protruding from the bottom of the main body is 1mm to 9mm.

[0024] The second aspect of the embodiment of the utility model provides a cleaning robot system, comprising: a cleaning robot, and the stair climbing machine of any one of the first aspect.

[0025] The stair climbing machine and the cleaning robot system provided by the embodiment of the utility model, the stair climbing machine comprises a main body, a bearing disc, a support arm and a support foot, the bearing disc is rotatably installed on the main body, the support arm connects the main body and the support foot, and the bearing disc is used for bearing the cleaning robot, so that the cleaning robot can be borne on the stair climbing machine through the bearing disc. Since the support arms located on both sides of the main body are foldable or unfoldable relative to the main body, and the support foot is foldable or unfoldable relative to the support arm, the main body can be moved from the bottom of the stairs to the tread surface of the stairs through the cooperation of the support arm and the support foot, and the stair climbing is realized. Therefore, the stair climbing machine can realize the stair climbing operation of the cleaning robot, expand the movement range and cleaning range of the cleaning robot, and meet the cleaning operation requirements of the application scenarios such as duplex structures or villas with stairs. At the same time, since the bearing disc is installed at the mounting port of the main body, the first avoiding port is arranged at the position opposite to the cleaning part of the cleaning robot, and the cleaning part can be in contact with the surface to be cleaned through the first avoiding port. Therefore, the operation of the stair climbing machine can enable the cleaning robot borne on the bearing disc to realize the cleaning operation on the surface to be cleaned, so that the cleaning robot can also perform the cleaning operation without detaching from the stair climbing machine, and the use range of the cleaning robot is expanded.

[0026] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0027] The following drawings of the present application are used as part of the embodiments of the present application for understanding the present application. The embodiments of the present application and their descriptions shown in the drawings are used to explain the principles of the present application.

[0028] In the drawings:

[0029] Figure 1 is a structural schematic view of a cleaning robot system according to an optional embodiment of the present application from one perspective;

[0030] Figure 2 is a structural schematic view of a cleaning robot system according to an optional embodiment of the present application from another perspective; Figure 1

[0031] Figure 3 is a structural schematic view of a stair climbing machine according to a first optional embodiment of the present application from one perspective;

[0032] Figure 4 is a structural schematic view of a main body according to an optional embodiment of the present application from one perspective;

[0033] Figure 5 is a structural schematic view of a bearing disc according to an optional embodiment of the present application from one perspective;

[0034] Figure 6 is a partial structural schematic view of a stair climbing machine according to a first optional embodiment of the present application;

[0035] Figure 7 is a structural schematic view of a stair climbing machine according to a first optional embodiment of the present application from another perspective;

[0036] Figure 8 is a structural schematic view of a stair climbing machine according to a second optional embodiment of the present application from one perspective;

[0037] Figure 9 is a structural schematic view of a stair climbing machine according to a second optional embodiment of the present application from another perspective; Figure 8

[0038] Figure 10 is a structural schematic view of a stair climbing machine according to a third optional embodiment of the present application from one perspective;

[0039] ​​Figure 11 For Figure 10 Structure diagram of another perspective of the stair climbing machine of the embodiment shown.

[0040] Legend of reference signs

[0041] 100 Stair climbing machine, 110 Main body, 111 Mounting port, 112 Accommodation cavity, 113 Opening, 114 Bottom plate, 115 Side plate, 116 Reinforcing plate, 117 Support wheel, 120 Bearing disc, 121 First avoiding port, 122 Second avoiding port, 130 Support arm, 131 First end, 132 Second end, 133 First branch arm, 134 Second branch arm, 135 First support arm, 136 Second support arm, 140 Support foot, 141 Traveling wheel, 142 Omni wheel, 143 First support foot, 144 Second support foot, 151 First driving part, 161 Second driving part, 200 Cleaning robot, 210 Cleaning part, 211 Rolling brush, 212 Cleaning head, 213 Edge brush, 220 Driving wheel, 230 Driven wheel, 300 Cleaning robot system. DETAILED DESCRIPTION

[0042] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the technical solutions provided by the present application. However, it will be apparent to one of ordinary skill in the art that the technical solutions provided by the present application can be practiced without one or more of these specific details.

[0043] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in the specification, it means that the stated features, integers, steps, operations, elements, and / or components exist, but it does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0044] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in various different forms, and should not be interpreted as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present application is complete and complete, and the ideas of these exemplary embodiments are sufficiently conveyed to those of ordinary skill in the art.

[0045] As Figures 1 to 11 As shown in the drawings, embodiments of the present application provide a stair climbing machine 100 and a cleaning robot system 300. Among them, as Figure 1As shown, the stair climbing machine 100 is used in cooperation with the cleaning robot 200, and the stair climbing machine 100 is used to carry the cleaning robot 200 to climb stairs.

[0046] Further, as shown, Figure 2 The cleaning robot 200 includes, but is not limited to, a device base, a cleaning system, a driving system, etc. The functional elements constituting the above-mentioned systems in the cleaning robot 200 are integrally arranged in the device base. It can be understood that the cleaning robot 200 can be a self-moving cleaning robot, and the above-mentioned systems are coordinated with each other to enable the cleaning robot 200 to move autonomously to achieve the cleaning function.

[0047] Among them, as shown, Figure 2 The driving system can include two driving wheels 220 arranged along the transverse axis defined by the device base. The main driving wheel module can simultaneously control the left and right driving wheels. In order to more accurately control the movement of the machine, the main driving wheel module can preferably include a left driving wheel module and a right driving wheel module. In order to enable the cleaning robot 200 to move more stably on the ground or have stronger movement ability, the cleaning robot 200 can include one or more driven wheels 230, which include but are not limited to universal wheels.

[0048] Among them, the cleaning system can include a dry cleaning system, i.e. the cleaning robot 200 can be a sweeper. As shown, Figure 2 The dry cleaning system can include a roller brush 211, a dust box, and a dust collection fan. The roller brush 211 with a certain interference with the ground sweeps the garbage on the ground and brings it to the front of the dust collection port between the roller brush 211 and the dust box, and then the gas generated by the dust collection fan and passing through the dust box is sucked into the dust box.

[0049] Further, as shown, Figure 2 The dry cleaning system can further include a side brush 213 with a rotating shaft, which is at an angle relative to the ground to move debris into the roller brush 211 area.

[0050] Among them, as shown, Figure 2 The cleaning system can include a wet cleaning system, such as a cleaning device that can be a mopping robot. Further, the wet cleaning system includes a cleaning component, a water feeding mechanism, a liquid storage tank, etc., wherein the cleaning component is connected with the device base and can be arranged below the liquid storage tank. The cleaning liquid inside the liquid storage tank is transmitted to the cleaning component by the water feeding mechanism to enable the cleaning component to wet clean the cleaning surface to achieve the mopping function. Specifically, the cleaning component can be a disc brush assembly, a mop disc assembly, a cleaning head 212, other components, etc.

[0051] Specifically, the cleaning system can include a dry cleaning system and a wet cleaning system, that is, the cleaning robot 200 can be a mop and vacuum cleaner.

[0052] As shown in Figure 3 、 Figure 4 、 Figure 5 The utility model discloses first aspect's embodiment provides a stair -climbing machine 100 for carrying cleaning robot 200 to climb stairs, and the stair -climbing machine 100 includes: the main part 110, and the bottom of main part 110 is provided with the installation mouth 111, the bearing disc 120 and the rotating device, and the bearing disc 120 is located at the installation mouth 111 and is rotatably connected with the main part 110 through the rotating device, and the bearing disc 120 is configured to carry cleaning robot 200, the support arm 130, two support arms 130 are connected on the both sides of main part 110 respectively, and the first end 131 of support arm 130 is rotatably connected with main part 110, so that support arm 130 can be folded or unfolded relative to main part 110, the support foot 140, and the second end 132 of support arm 130 is rotatably connected with support foot 140, so that support foot 140 can be folded or unfolded relative to support arm 130, wherein the bearing disc 120 is provided with the first avoiding mouth 121 at the position opposite the cleaning part 210 of cleaning robot 200, and the cleaning part 210 is in contact with the surface to be cleaned through the first avoiding mouth 121.

[0053] The stair -climbing machine 100 provided by the utility model embodiment includes main part 110, bearing disc 120, support arm 130 and support foot 140, the bearing disc 120 is rotatably installed on main part 110, the support arm 130 connects main part 110 and support foot 140, and the bearing disc 120 is used to carry cleaning robot 200, so that cleaning robot 200 can be carried on main part 110 through the bearing disc 120. Since the support arm 130 located on the both sides of main part 110 can be folded or unfolded relative to main part 110, and the support foot 140 can be folded or unfolded relative to support arm 130, through the cooperation of support arm 130 and support foot 140, main part 110 can be moved from the bottom of the stairs to the tread surface of the stairs, and the stair climbing is realized. Thus, by using the stair -climbing machine 100, the stair -climbing operation of cleaning robot 200 can be realized, the movement range and cleaning range of cleaning robot 200 are expanded, the cleaning operation of the application scenarios such as duplex structure or villa with stairs can be met, the use range of cleaning robot 200 is expanded, and the cleaning needs of users are met.

[0054] Meanwhile, as shown in Figure 2 、 Figure 4 and Figure 5As shown, since the bearing disc 120 is installed at the installation opening 111 of the main body 110, the bearing disc 120 is provided with a first avoiding opening 121 at a position opposite to the cleaning part 210 of the cleaning robot 200, and the cleaning part 210 can be in contact with the surface to be cleaned through the first avoiding opening 121, so that the cleaning robot 200 carried on the bearing disc 120 can realize the cleaning operation on the surface to be cleaned by the operation of the stair climbing machine 100, and the cleaning robot 200 can perform the cleaning operation without being separated from the stair climbing machine 100, thereby expanding the use range of the cleaning robot 200.

[0055] Further, when the stair climbing machine 100 carries the cleaning robot 200 to climb to the tread surface of the stairs, since the cleaning part 210 can be in contact with the tread surface of the stairs through the first avoiding opening 121, the cleaning operation on the tread surface of the stairs can be realized by the cleaning part 210 through the operation of the stair climbing machine 100, so that the cleaning robot 200 can realize the cleaning operation on the tread surface of the stairs without being separated from the stair climbing machine 100, thereby solving the problem that the space range of the tread surface of the stairs is small in the prior art, and the cleaning robot cannot be separated from the stair climbing machine smoothly, so that the cleaning operation on the tread surface of the stairs cannot be realized, greatly improving the cleaning range of the cleaning robot 200 and improving the satisfaction of users.

[0056] That is, the stair climbing machine 100 provided by the embodiment of the utility model can carry the cleaning robot 200 to perform the stair climbing operation, so that the cleaning robot 200 can meet the cleaning operation in the application scene of the duplex structure or the villa with stairs, thereby expanding the use range of the cleaning robot 200. Meanwhile, the stair climbing machine 100 can drive the cleaning robot 200 to clean the tread surface of the stairs in the process of climbing the stairs, thereby further improving the cleaning range of the cleaning robot 200, improving the intelligence of the cleaning robot 200, improving the market competitiveness of the cleaning robot 200, and being suitable for popularization and application.

[0057] Further, the stair climbing machine 100 provided by the embodiment of the utility model can manually carry the cleaning robot 200 to the appropriate position of the bearing disc 120 when the driving system of the cleaning robot 200 fails, and then carry the cleaning robot 200 to perform the cleaning operation by the stair climbing machine 100, so that the cleaning robot 200 can still perform the cleaning operation in the case of system failure, thereby improving the satisfaction of users.

[0058] The bearing disc 120 is rotationally connected with the main body 110, so that the bearing disc 120 can rotate relative to the main body 110, and then the cleaning robot 200 carried on the bearing disc 120 can be adjusted to rotate to a suitable direction relative to the main body 110, so as to adjust the direction of the cleaning part 210 relative to the main body 110, so that the direction of the cleaning part 210 matches the running direction of the stair climbing machine 100, so that the stair climbing machine 100 can drive the cleaning part 210 to perform cleaning operation on the surface to be cleaned, and ensure good cleaning effect.

[0059] Further, the bearing disc 120 and the main body 110 are connected through a rotating device, which can be a bearing, a guide chute, etc. It can be understood that the stair climbing machine 100 can also include a rotating assembly for driving the bearing disc 120 to rotate relative to the main body 110.

[0060] Further, when the cleaning robot 200 is a sweeping robot, the cleaning part 210 can be a roll brush 211 of a dry cleaning system, and the first avoiding port 121 is used for avoiding the roll brush 211. When the cleaning robot 200 is parked at a suitable position of the bearing disc 120, the roll brush 211 of the cleaning robot 200 can contact the surface to be cleaned through the first avoiding port 121 of the bearing disc 120, so that the stair climbing machine 100 runs along the surface to be cleaned, and the roll brush 211 located outside the first avoiding port 121 can interfere with the surface to be cleaned to realize cleaning operation.

[0061] When the sweeping robot includes a side brush 213, the first avoiding port 121 is also used for avoiding the side brush 213. In this way, when the cleaning robot 200 is parked at a suitable position of the bearing disc 120, the side brush 213 of the cleaning robot 200 can contact the surface to be cleaned through the first avoiding port 121 of the bearing disc 120, to realize auxiliary cleaning function on the surface to be cleaned.

[0062] Further, when the cleaning robot 200 is a mopping robot, the cleaning part 210 can be a disc brush assembly, a mop disc assembly, or a cleaning head 212 of a wet cleaning system, and the first avoiding port 121 is used for avoiding the disc brush assembly, the mop disc assembly, or the cleaning head 212. When the cleaning robot 200 is parked at a suitable position of the bearing disc 120, the cleaning head 212 of the cleaning robot 200 can contact the surface to be cleaned through the first avoiding port 121 of the bearing disc 120, so that the stair climbing machine 100 runs along the surface to be cleaned, and the cleaning head 212 located outside the first avoiding port 121 can interfere with the surface to be cleaned to realize mopping operation.

[0063] Further, when the cleaning robot 200 is a sweeping and mopping integrated machine, the cleaning part 210 can include a roller brush 211, an edge brush 213, and a disc brush assembly, a mop disc assembly, or a cleaning head 212, i.e., the first avoiding port 121 is used for avoiding the roller brush 211 and the edge brush 213, and is also used for avoiding the disc brush assembly, the mop disc assembly, or the cleaning head 212, etc. Thus, the sweeping operation and / or the mopping operation on the cleaning surface can be selectively realized.

[0064] Further, as shown in Figure 6 , the number of the support arms 130 is two, including a first support arm 135 and a second support arm 136, and the first support arm 135 and the second support arm 136 are distributed on the left and right sides of the stair climber 100 along the width direction of the stair climber 100. Among them, the first support arm 135 can be connected on the right side of the main body, and the second support arm 136 is connected on the left side of the main body; or the first support arm 135 can be connected on the left side of the main body, and the second support arm 136 is connected on the right side of the main body. Specifically, the width direction of the stair climber 100 is the X-axis direction in Figure 6 . Specifically, as shown in Figure 6 , the first support arm 135 is connected on the right side of the main body shown in Figure 6 , and the second support arm 136 is connected on the left side of the main body shown in Figure 6 .

[0065] Further, as shown in Figure 6 , the number of the support feet 140 is two, including a first support foot 143 and a second support foot 144, and the first support foot 143 is rotationally connected with the first support arm 135, and the second support foot 144 is rotationally connected with the second support arm 136.

[0066] As shown in Figure 6 and Figure 7 , in some possible implemented embodiments provided by the utility model, the bottom of the support foot 140 is provided with a walking wheel 141, and the walking wheel 141 is configured to be rotatable and steerable, so that the whole stair climber 100 can be driven to run to a specified position. When the walking wheel 141 rotates, the stair climber 100 can be driven to run forward or backward, and when the walking wheel 141 steers, the stair climber 100 can be driven to steer.

[0067] Specifically, when the cleaning robot 200 needs to perform the stair climbing operation, the cleaning robot 200 runs to the specified position of the bearing disc 120, the walking wheel 141 of the stair climber 100 is rotated to drive the stair climber 100 to run to the bottom of the stairs, and then the support arm 130 and the support foot 140 cooperate with each other to make the main body 110 climb to the tread surface of the stairs. When the tread surface of the stairs needs to be cleaned, the bearing disc 120 is rotated by 90° relative to the main body 110, so that the extension direction of the cleaning part 210 of the cleaning robot 200 is substantially parallel to the extension direction of the stairs, that is, the extension direction of the cleaning part 210 is substantially perpendicular to the extension direction of the tread surface of the stairs, wherein the extension direction of the stairs can be understood as the vertical direction, and the tread surface of the stairs can be understood as the horizontal direction. Then, the walking wheel 141 is turned by 90°, so that the running direction of the stair climber 100 is substantially perpendicular to the extension direction of the cleaning part 210, and then the walking wheel 141 is driven to rotate, so that the cleaning part 210 can realize the cleaning operation on the tread surface of the stairs. The operation is simple and convenient to use.

[0068] It can be understood that when the stair climber 100 carrying the cleaning robot 200 completes the stair climbing operation and reaches the landing on the upper floor, the stair climber 100 can stop working, and the cleaning robot 200 can run to separate from the stair climber 100 to perform the cleaning operation alone, or the stair climber 100 can carry the cleaning robot 200 to perform the cleaning operation together.

[0069] As shown in Figure 4 In some possible embodiments provided by the utility model, the main body 110 is provided with a containing cavity 112 for containing the cleaning robot 200, the bottom wall of the containing cavity 112 is provided with a mounting port 111, that is, the bearing plate is mounted on the bottom wall of the containing cavity 112 and is rotationally connected with the bottom wall of the containing cavity 112, one side of the containing cavity 112 is provided with an opening 113 communicated with the bottom wall of the containing cavity 112. The opening 113 is arranged so that the cleaning robot 200 can smoothly pass through the opening 113 to be carried on the bearing disc 120 in the containing cavity 112 or to be separated from the bearing disc 120 outside the containing cavity 112, so that the cleaning robot 200 can be smoothly docked on the bearing disc 120 of the stair climber 100 or separated from the stair climber 100.

[0070] As shown in Figure 4As shown, in some possible embodiments provided by this utility model, the main body 110 includes a bottom plate 114 and a side plate 115 that enclose a receiving cavity 112. The side plate 115 has an opening 113, and the bottom plate 114 has a mounting port 111. That is, the support plate 120 is rotatably connected to the bottom plate 114. The opening 113 is opened on the side plate 115 of the stair climber 100. When the cleaning robot 200 runs through the opening 113, it can smoothly stop on the support plate. Specifically, the opening 113 can be located on the front, rear, left, or right side of the stair climber 100. Specifically, the opening 113 is set on the front side plate 115 of the stair climber 100. When the stair climber 100 carries the cleaning robot 200 to climb the stairs to the upper open space, it is convenient for the cleaning robot 200 to run smoothly to the upper open space through the opening 113 located on the front side of the stair climber 100.

[0071] like Figure 4 As shown, in the above embodiment, the main body 110 also includes a reinforcing plate 116 connected to the base plate 114. The two ends of the reinforcing plate 116 are connected to the side plate 115 and distributed around the mounting opening 111. The setting of the reinforcing plate 116 can enhance the strength of the main body 110, thereby improving the reliability and service life of the main body 110, so as to improve the reliability of the stair climbing machine 100.

[0072] like Figure 4 As shown, in some possible embodiments provided by this utility model, the receiving cavity 112 is cuboid, wherein the cuboid can be a rectangular prism or a cube. Reinforcing plates 116 are at least distributed at the corners of the rectangle away from the opening 113. The reinforcing plates 116 can be located at one corner of the rectangle away from the opening 113; or, the reinforcing plates 116 can be located at two corners of the rectangle away from the opening 113; or, the reinforcing plates 116 can be located at one corner of the rectangle away from the opening 113 and one or two corners near the opening 113; or, the reinforcing plates 116 can be located at all four corners of the rectangle. This allows for different degrees of strengthening of the main body 110. Corners are formed between adjacent side plates 115, allowing the two ends of the reinforcing plate 116 to connect to side plates 115 in different directions, thereby increasing strength.

[0073] Specifically, such as Figure 4 As shown, when the side panel 115 located on the front side of the stair climber 100 is configured as an opening 113, the reinforcing plate 116 can be located at the two corners of the cube away from the opening 113. Figure 1 and Figure 2 As shown, when the side plate 115 located on the front side of the stair climber 100 is set as an opening 113, the reinforcing plate 116 can be located at the four corners of the cube.

[0074] In the above embodiments, the number of reinforcing plates 116 at the same corner is one or at least two. Thus, by using different numbers of reinforcing plates 116, the requirements for improving the strength of the main body 110 to different degrees can be met. It is understood that the more reinforcing plates 116 there are, the more the strength of the main body 110 can be improved; however, the manufacturing cost will be higher. The number of reinforcing plates 116 can be reasonably set by taking into account the strength requirements of the main body 110 and the cost.

[0075] When there are at least two reinforcing plates 116 at the same corner, the arrangement of at least two reinforcing plates 116 in parallel is beneficial to improving the uniformity of force on the reinforcing plates 116 and the main body 110, further improving the strength of the main body 110, and improving the reliability of the stair climbing machine 100.

[0076] When there are at least two reinforcing plates 116 at the same corner, adjacent reinforcing plates 116 are connected by a connecting plate. Thus, multiple reinforcing plates 116 can be reliably connected by the connecting plate, and the strength of the main body 110 can be further improved.

[0077] When there are at least two reinforcing plates 116 at the same corner, the at least two reinforcing plates 116 are arranged in parallel, and adjacent reinforcing plates 116 are connected by connecting plates. This can greatly improve the uniformity of force on the reinforcing plates 116 and the main body 110, improve the strength of the main body 110, and improve the reliability of the stair climbing machine 100.

[0078] The reinforcing plate 116 can be straight or have a bent structure, allowing for flexible structural configuration. Straight reinforcing plates 116 are easier to process and have lower manufacturing costs. Reinforcing plates 116 with bent structures can cover a larger area of ​​the base plate, providing reliable and stable support for the main body 110, while also avoiding obstacles from other components, such as the first drive assembly.

[0079] like Figure 7 As shown, in some possible embodiments of this utility model, a support wheel 117 is also connected to the bottom of the main body 110. The support wheel 117 protrudes from the bottom of the main body 110 by 1mm to 10mm. The support wheel 117 provides reliable and stable support for the main body 110, ensuring that the carrier plate has a certain distance from the surface to be cleaned or the stair tread surface to avoid interference, thus ensuring that the movement of the walking wheel 141 can drive the stair climber 100 to run smoothly. At the same time, by reasonably setting the height of the support wheel 117 protruding from the bottom of the main body 110, the cleaning robot 200 can smoothly move onto or detach from the carrier plate 120.

[0080] Specifically, the height of the support wheel protruding from the bottom of the main body 110 can be 1mm, 3mm, 5mm, 8mm, 10mm, or other sizes.

[0081] like Figure 2 and Figure 5 As shown, in some possible embodiments provided by this utility model, the support plate 120 is further provided with a second clearance opening 122. The second clearance opening 122 is used to avoid the drive wheel 220 of the cleaning robot 200. Furthermore, the cleaning robot 200 also includes a driven wheel 230, and the second clearance opening 122 is also used to avoid the driven wheel 230 of the cleaning robot 200. Since, under normal circumstances, the drive wheel 220, driven wheel 230 and cleaning part 210 at the bottom of the cleaning robot 200 all need to interfere with the surface to be cleaned in order for the cleaning robot 200 to run smoothly and achieve the cleaning operation, the setting of the second clearance opening 122 ensures that the drive wheel 220 and driven wheel 230 of the cleaning robot 200 will not interfere with the support plate. At the same time, it allows the cleaning part 210 to reliably and effectively contact the surface to be cleaned, thereby ensuring a good cleaning effect.

[0082] In some possible embodiments provided by this utility model, the stair climber 100 further includes: a walking drive unit, which is connected to the support foot 140. The walking drive unit is used to drive the walking wheel 141 to rotate, so that the rotation of the walking wheel 141 can drive the stair climber 100 to move forward or backward.

[0083] The stair climber 100 also includes a steering assembly connected to the support foot 140. The steering assembly is used to drive the walking wheel 141 to turn, so that the turning of the walking wheel 141 can drive the stair climber 100 to turn.

[0084] The steering assembly and the walking drive unit can work simultaneously and / or work independently. That is, the walking wheel 141 can turn while running, or the walking wheel 141 can turn before running or after running; or the walking wheel 141 can turn while running, or it can turn before running or after running.

[0085] The travel drive unit and / or steering assembly are installed inside the support foot 140, enabling the support foot 140 to provide good protection for the travel drive unit and / or steering assembly, thereby extending their service life. Specifically, the travel drive unit can be electrically driven, hydraulically driven, etc., such as an electric motor.

[0086] Furthermore, such as Figure 7 As shown, the bottom of the support foot 140 is also equipped with casters 142. The casters 142 cooperate with the walking wheels 141 to improve the stability and reliability of the support foot 140 driving the stair climber 100.

[0087] like Figure 6 As shown, in some possible embodiments provided by this utility model, the stair climber 100 further includes: a first drive assembly, which includes a first drive unit 151 and a first transmission unit. The first drive unit 151 is connected to the main body 110, and the first drive unit 151 drives the first end 131 of the support arm 130 to rotate relative to the main body 110 through the first transmission unit. This enables the support arm 130 to fold or unfold relative to the main body 110, resulting in a simple structure and convenient operation. Specifically, the support arm 130 can be folded or unfolded relative to the main body 110 along the height direction of the main body 110 to facilitate stair climbing.

[0088] The main body 110 is provided with a receiving cavity, and the first drive unit 151 can be installed inside the receiving cavity to provide good protection for the first drive unit 151 and extend its service life. Specifically, the first drive unit 151 can be electrically driven, hydraulically driven, etc., such as a motor.

[0089] The first transmission unit can be a gear mechanism, linkage mechanism, cam mechanism, etc. The first transmission unit can be installed within the accommodating cavity of the main body 110 and / or the support arm 130, so that the accommodating cavity and / or the support arm 130 can provide good protection for the first transmission unit. It is understood that the first drive unit 151 cooperates with the first transmission unit to enable the main body 110 and the support arm 130 to rotate relative to each other to achieve folding or unfolding. The main body 110 can rotate relative to the support arm 130, and the support arm 130 can also rotate relative to the main body.

[0090] like Figure 6 As shown, in some possible embodiments provided by this utility model, the stair climber 100 further includes a second drive assembly, which includes a second drive unit 161 and a second transmission unit. The second drive unit 161 is connected to the support foot 140, and the second drive unit 161 drives the support foot 140 to rotate relative to the second end 132 of the support arm 130 through the second transmission unit. This enables the support foot 140 to fold or unfold relative to the support arm 130, resulting in a simple structure and convenient operation. Specifically, the support foot 140 can be folded or unfolded relative to the support arm 130 along the height direction of the main body 110 to facilitate stair climbing.

[0091] The second drive unit 161 can be installed inside the support foot 140 to provide good protection for the second drive unit 161 and extend its service life. Specifically, the second drive unit 161 can be electrically driven, hydraulically driven, etc., such as an electric motor.

[0092] The second transmission unit can be a gear mechanism, linkage mechanism, cam mechanism, etc. The second transmission unit can be installed inside the support foot 140 and / or support arm 130 to facilitate the support foot 140 and / or support arm 130 in providing good protection for the first transmission unit. It is understood that the second drive unit 161 cooperates with the second transmission unit to enable the support foot 140 and support arm 130 to rotate relative to each other, achieving folding or unfolding. The support foot 140 can rotate relative to the support arm 130, and the support arm 130 can also rotate relative to the support foot 140.

[0093] like Figure 6 and Figure 7 As shown, in some possible embodiments provided by this utility model, the support foot 140 is rotatably connected to the side of the second end 132 away from the main body 110, that is, the support foot 140 and the main body 110 are distributed on both sides of the support arm 130, and the support foot 140 and the support arm 130 are arranged along the width direction of the stair climber 100. Thus, by coordinating the folding or unfolding of the support arm 130 relative to the main body 110 and the folding or unfolding of the support foot 140 relative to the support arm 130, the stair climbing operation of the main body 110 can be realized. The structure is simple and the operation is convenient. With this arrangement, the external structure of the support foot 140 and the support arm 130 is simple, easy to process and implement, and has a low manufacturing cost, making it suitable for widespread application. The width direction of the stair climber 100 is as follows... Figure 6 The X-axis direction is shown.

[0094] Furthermore, the connection point between the first end 131 of the support arm 130 and the main body 110 is located away from the opening 113. That is to say, when the stair climber 100 is in a folded state, the second end 132 of the support arm 130 is close to the notch, and the first end 131 of the support arm 130 is away from the notch.

[0095] like Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, in some possible embodiments provided by this utility model, the support arm 130 and the support foot 140 are arranged sequentially along the height direction of the stair climber 100. Therefore, compared to arranging the support foot 140 and the support arm 130 along the width direction of the stair climber 100, this reduces the size of the stair climber 100 in the width direction, thereby reducing the space occupied by the stair climber 100 in the width direction, expanding the operating range of the stair climber 100, meeting the needs of climbing narrower staircases, and expanding the application range of the stair climber 100. Wherein, the width direction of the stair climber 100 is as follows... Figure 8 , Figure 10 As shown in the X-axis direction, the height direction of the stair climber 100 is as follows: Figure 8 , Figure 10 The Z-axis direction shown, which is the height direction of the stair climber 100, can be understood as the vertical direction.

[0096] like Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, in some possible embodiments provided by this utility model, when the support arm 130 and the support foot 140 are in a folded state, the second end 132 of the support arm 130 and the support foot 140 are engaged in a concave-convex fit. This concave-convex fit minimizes the gap between the support arm 130 and the support foot 140 in the vertical direction when they are in a folded state. This further improves the compactness of the design of the support arm 130 and the support foot 140, reduces the space occupied by the stair climber 100 in the folded state, meets the requirements for climbing narrow staircases, expands the application range of the stair climber 100, and makes the stair climber 100 highly foldable and easy to fold and store.

[0097] Furthermore, the connection point between the first end 131 of the support arm 130 and the main body 110 is located away from the opening 113. That is to say, when the stair climber 100 is in a folded state, the second end 132 of the support arm 130 is close to the notch, and the first end 131 of the support arm 130 is away from the notch.

[0098] like Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, in some possible embodiments provided by this utility model, when the support arm 130 and the support foot 140 are in a folded state, the adjacent surfaces of the support arm 130 and the support foot 140 are in contact. That is, when the support arm 130 and the support foot 140 are in a folded state, the support arm 130 and the support foot 140 are designed to fit together in the vertical direction. This ensures that the vertical dimension of the stair climber in the folded state is not large, and the close fit between the support arm 130 and the support foot 140 can meet the design requirements of a compact structure and small size of the stair climber 100. The movement range is not affected by the height of the stair climber 100, and the space occupied by the stair climber 100 along the length direction can be greatly reduced, thus expanding the operating range of the stair climber 100.

[0099] like Figure 8 , Figure 9 As shown, in some possible embodiments provided by this utility model, the support arm 130 is configured as a telescopic structure. The support arm 130 includes a first arm 133 and a second arm 134 that are nested and can move relative to each other. The first arm 133 is rotatably connected to the main body 110, and the second arm 134 is rotatably connected to the support foot 140.

[0100] In this embodiment, the support arm 130 is configured as a telescopic structure. The support arm 130 includes a first arm 133 rotatably connected to the main body 110 and a second arm 134 rotatably connected to the support foot 140. The first arm 133 and the second arm 134 are nested together and can move relative to each other, making the support arm 130 a segmented telescopic structure, such as a telescopic umbrella structure. Thus, by moving the first arm 133 and the second arm 134 relative to each other, the overall length of the support arm 130 can be adjusted, allowing the support arm 130 to adapt to stair steps of different heights, further expanding the application range of the stair climber 100 and improving user satisfaction.

[0101] In some possible embodiments provided by this utility model, the support arm 130 further includes a third drive assembly, which includes a third drive part and a third transmission part. The third drive part is connected to the first support arm 133 or the second support arm 134. The third drive part drives the first support arm 133 and the second support arm 134 to move relative to each other through the third transmission part. This allows the first support arm 133 and the second support arm 134 to extend or retract relative to each other to adjust the overall length of the support arm 130, so that the length of the support arm 130 can adapt to stair steps of different heights, thus expanding the application range of the stair climber 100.

[0102] The third drive unit can be connected to either the first arm 133 or the second arm 134. For example, the third drive unit can be installed inside the first arm 133 or the second arm 134 to provide good protection for the third drive unit and extend its service life. Specifically, the third drive unit can be electrically driven or hydraulically driven; more specifically, the third drive unit can be a motor.

[0103] The third transmission unit can be a gear mechanism, a linkage mechanism, a cam mechanism, etc. The third transmission unit can be installed inside the first support arm 133 and / or the second support arm 134, so that the interior of the first support arm 133 and / or the second support arm 134 can provide good protection for the third transmission unit.

[0104] like Figure 10 and Figure 11 As shown, in some possible embodiments provided by this utility model, the support arm 130 is configured as a rotating structure. The support arm 130 includes a first arm 133 and a second arm 134 that are rotatably connected. The first arm 133 is rotatably connected to the main body 110, and the second arm 134 is rotatably connected to the support foot 140.

[0105] In this embodiment, the support arm 130 is configured as a rotating structure. The support arm 130 includes a first arm 133 rotatably connected to the main body 110 and a second arm 134 rotatably connected to the support foot 140. The first arm 133 and the second arm 134 are rotatably connected, thereby adjusting the overall height of the support arm 130 in the vertical direction by rotating the first arm 133 and the second arm 134 relative to each other. This allows the support arm 130 to adapt to stair steps of different heights, further expanding the application range of the stair climber 100 and improving user satisfaction.

[0106] In some possible embodiments provided by this utility model, the support arm 130 further includes a fourth drive assembly, which includes a fourth drive unit and a fourth transmission unit. The fourth drive unit is connected to the first support arm 133 or the second support arm 134, and drives the first support arm 133 and the second support arm 134 to rotate relative to each other through the fourth transmission unit. This allows the relative rotation of the first support arm 133 and the second support arm 134 to adjust the overall height of the support arm 130 in the vertical direction, enabling the vertical height of the support arm 130 to adapt to stair steps of different heights, thus expanding the application range of the stair climber 100.

[0107] The fourth drive unit can be connected to either the first arm 133 or the second arm 134. For example, the fourth drive unit can be installed inside the first arm 133 or the second arm 134 to provide good protection for the fourth drive unit and extend its service life. Specifically, the fourth drive unit can be electrically driven or hydraulically driven; more specifically, the fourth drive unit can be a motor.

[0108] The fourth transmission unit can be a gear mechanism, a linkage mechanism, a cam mechanism, etc. The fourth transmission unit can be installed inside the first support arm 133 and / or the second support arm 134, so that the interior of the first support arm 133 and / or the second support arm 134 can provide good protection for the fourth transmission unit.

[0109] In some possible embodiments provided by this utility model, the stair climber 100 further includes: a power supply unit and a communication unit electrically connected to the power supply unit, the power supply unit being disposed on the main body 110 or the support plate 120; the cleaning robot 200 includes a charging unit and a control system, the charging unit of the cleaning robot 200, which is mounted on the support plate 120, is configured to contact the power supply unit so that the communication unit and the control system are electrically connected.

[0110] In this embodiment, when the cleaning robot 200 runs onto the carrier plate 120, the charging unit of the cleaning robot 200 comes into contact with the power supply unit of the stair climber 100, enabling the charging unit and the power supply unit to be electrically connected or electrically conductive. The charging unit of the cleaning robot 200 supplies power to the power supply unit of the stair climber 100. Since the power supply unit is electrically connected to the communication unit and the charging unit is electrically connected to the control system of the cleaning robot 200, the control system of the cleaning robot 200 and the communication unit of the stair climber 100 can transmit signals. The control system can then control the stair climber 100, enabling the carrier plate 120 to rotate, the support arm 130 to fold and extend relative to the turntable, the support foot 140 to fold and extend relative to the support arm 130, and the walking wheel 141 to rotate and turn. This allows the stair climber 100 to carry the cleaning robot 200 to climb stairs and clean surfaces to be cleaned. This configuration simplifies the connection interface between the power supply unit and the external power source on the stair climber 100, as well as the configuration of the charging device that supplies power to the power supply unit, which helps to simplify the structure and reduce manufacturing costs.

[0111] The power supply unit can be installed on the main body 110 or on the carrier plate 120, as long as the cleaning robot 200 can be docked at a suitable position on the carrier plate 120 so that the power supply unit and the charging unit can make contact and connect.

[0112] A second aspect of this utility model provides a cleaning robot system 300, including a cleaning robot 200 and a stair climber 100 according to any embodiment of the first aspect. Since the cleaning robot system 300 includes the stair climber 100 of any of the aforementioned embodiments, it possesses all the technical effects of the aforementioned stair climber 100, which will not be elaborated upon here.

[0113] The cleaning robot 200 can run to the stair climber 100 and stop on the support plate 120 of the stair climber 100. The stair climber 100 can carry the cleaning robot 200 to climb the stairs and can drive the cleaning robot 200 to clean the surface to be cleaned.

[0114] In some possible embodiments provided by this utility model, the cleaning robot system 300 also includes a positioning switch. The positioning switch is set on the stair climber 100 and / or the cleaning robot 200. When the cleaning robot 200 stops at a suitable position on the support plate 120, the positioning device sends a positioning signal. The control system of the cleaning robot 200 receives the positioning signal and controls the cleaning robot 200 to stop moving, so that the cleaning robot 200 stops reliably, accurately and stably on the support plate 120. At this time, the charging part of the cleaning robot 200 contacts the power supply part of the stair climber 100 and is electrically connected. The cleaning part 210 can contact the surface to be cleaned through the first clearance opening 121.

[0115] Among them, the position switch can be a mechanical switch, a photoelectric switch, etc.

[0116] In a specific example, the process of the cleaning robot 200 system provided by this utility model working is as follows:

[0117] When the control system of the cleaning robot 200 responds to the stair-climbing command, which can be understood as the command to climb stairs, it means that the cleaning robot 200 needs to use the stair-climbing machine 100 to climb stairs. The control system controls the cleaning robot 200 to run and stop on the support plate 120 of the stair-climbing machine 100, so that the stair-climbing machine 100 can smoothly carry the cleaning robot 200, thus preparing the stair-climbing machine 100 to carry the cleaning robot 200 to move, climb stairs, and perform cleaning operations.

[0118] Then, the stair climber 100 is controlled to run to the bottom of the stairs, with the opening 113 of the stair climber 100 facing the side of the stairs. The connection point between the main body 110 and the support arm 130 of the stair climber 100 is located behind the main body 110 and away from the stairs, while the connection point between the support arm 130 and the support foot 140 of the stair climber 100 is located in front of the main body 110 and close to the stairs. The main body 110 is controlled to rotate relative to the support arm 130, and the support arm 130 is controlled to rotate relative to the support foot 140, so that the support arm 130 and the main body 110 flip upwards until the main body 110 is fastened to the tread surface of the stairs. The support foot 140 is controlled to rotate relative to the support arm 130, and the support arm 130 is controlled to rotate relative to the main body 110, so that the support arm 130 and the support foot 140 flip onto the tread surface of the stairs. Thus, the stair climber 100 and the cleaning robot 200 can perform the stair climbing operation.

[0119] Understandably, the above steps enable the climbing operation of one step in the staircase. Depending on the specific number of steps in the staircase, the above steps can be repeated to enable the stair climber 100 to carry the cleaning robot 200 to climb the entire staircase, so that the stair climber 100 carrying the cleaning robot 200 can climb from the bottom of the staircase to the top of the staircase and reach the upper open space.

[0120] Specifically, first, the first drive component of the stair climber 100 is controlled to operate, causing the front end of the main body 110 to flip upwards, while the support arm 130 and support foot 140 remain fixed, until the main body 110 rotates to be perpendicular to the ground; then, the second drive component of the stair climber 100 is controlled to operate, causing the support arm 130 to rotate relative to the support foot 140, while the main body 110 remains fixed relative to the support arm 130, causing the main body 110 and the main body 110 to flip upwards simultaneously, until the main body 110 is engaged with the tread surface of the stairs, so that the main body 110 carrying the cleaning robot 200 can move from the bottom of the stairs to the tread surface of the stair steps. Then, the second drive assembly opposite to the first support foot 143 is controlled to operate, driving the rear end of the first support foot 143 to flip upwards until the first support foot 143 is perpendicular to the ground, while the second support foot 144 and the main body 110 remain fixed as support; the first drive assembly opposite to the first support arm 135 is controlled to operate, driving the first support arm 135 to rotate relative to the main body 110, while the first support foot 143 and the first support arm 135 remain fixed, causing the first support foot 143 and the first support arm 135 to flip upwards together until they flip onto the tread surface of the stairs, while the second support foot 144 and the main body 110 remain fixed as support. The system employs a control mechanism: A second drive assembly opposite the second support leg 144 rotates the rear end of the second support leg 144 upwards until it is perpendicular to the ground, while the first support leg 143 and the main body 110 remain stationary as support. Simultaneously, a first drive assembly opposite the second support arm 136 rotates the second support arm 136 relative to the main body 110, while the second support leg 144 and the second support arm 136 remain stationary, causing both to rotate upwards together until they reach the stair treads, where the first support leg 143 and the main body 110 remain stationary as support. This sequentially flips and engages the support arms 130 and support legs 140 on both sides of the main body 110 onto the stair treads, resulting in a simple structure and convenient operation.

[0121] Furthermore, when the control system responds to the instruction to clean the stairs, indicating that cleaning of the stair treads is required, it controls the support plate 120 to rotate relative to the main body 110 of the stair climber 100 by a preset angle, so that the extension direction of the cleaning part 210 of the cleaning robot 200 is approximately parallel to the extension direction of the stairs, that is, the extension direction of the cleaning part 210 is approximately perpendicular to the extension direction of the stair treads. The system also controls the wheels of the stair climber 100 to turn at a preset angle, so that the running direction of the stair climber 100 is approximately perpendicular to the extension direction of the cleaning part 210, that is, the turning direction of the wheels is approximately the same as the rotation direction and angle of the support plate 120. Since the cleaning part 210 of the cleaning robot 200 can contact the stair treads through the first clearance opening, and then, by controlling the movement of the wheels, the cleaning part 210 can perform the cleaning operation on the stair treads, making the operation simple and convenient. Therefore, the stair-climbing machine 100 enables the cleaning robot 200 to climb stairs, allowing it to handle cleaning tasks in scenarios such as duplexes or villas with staircases, thus expanding its application range. Simultaneously, as the stair-climbing machine 100 carries the cleaning robot 200 up the stairs, it cleans the stair treads, thereby increasing the cleaning range and intelligence of the cleaning robot 200, enhancing its market competitiveness, and making it suitable for widespread application.

[0122] Specifically, the preset angle can be 90° or 270°. It is understood that the preset angle can also be other angles that meet the requirements.

[0123] When the stair climber 100 carries the cleaning robot 200 up the stairs to the upper open space, the upper open space needs to be cleaned. At this time, the control system can respond to the command to clean the floor and control the cleaning robot 200 to move until it disengages from the support plate 120, that is, control the cleaning robot 200 to disengage from the stair climber 100. At this time, the control system controls the cleaning robot 200 to perform the cleaning operation, which can realize the cleaning operation of a large flat space.

[0124] Understandably, when the cleaning robot 200 moves to the point of detaching from the support plate 120, the power supply of the stair climber 100 is separated from the charging part of the cleaning robot 200, and the control system cannot control the stair climber 100. At this time, the control system can control the cleaning robot 200.

[0125] Furthermore, in response to the floor cleaning command, before controlling the cleaning robot 200 to move to the designated position and detach from the support plate 120, the control system can control the stair climber 100 to move to the designated position and then control the cleaning robot 200 to move to the designated position, so that the stair climber 100 can stop at the designated position, reducing the impact on the cleaning operation.

[0126] This utility model has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the utility model to the described embodiments. Furthermore, those skilled in the art will understand that this utility model is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this utility model, all of which fall within the scope of protection claimed by this utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A stair-climbing machine for carrying a cleaning robot, the stair-climbing machine comprising: The main body has an installation port at its bottom; The support plate and the rotating device are provided. The support plate is located at the mounting port and is rotatably connected to the main body through the rotating device. The support plate carries the cleaning robot. Support arms, two of which are respectively connected to both sides of the main body, with the first end of each support arm rotatably connected to the main body so that the support arm can be folded or unfolded relative to the main body; The support foot is rotatably connected to the second end of the support arm, so that the support foot can be folded or unfolded relative to the support arm. The carrier plate has a first clearance opening at the position opposite to the cleaning part of the cleaning robot, and the cleaning part contacts the surface to be cleaned through the first clearance opening.

2. The stair-climbing machine according to claim 1, characterized in that, The bottom of the support foot is equipped with a walking wheel, which can rotate and turn.

3. The stair-climbing machine according to claim 2, characterized in that, Also includes: The walking drive unit is connected to the support leg, and drives the walking wheel to rotate; A steering assembly is connected to the support leg, and the steering assembly drives the walking wheel to steer.

4. The stair-climbing machine according to claim 1, characterized in that, Also includes: A first drive assembly, comprising a first drive section and a first transmission section, wherein the first drive section is connected to the main body, and the first drive section drives the first end of the support arm to rotate relative to the main body via the first transmission section.

5. The stair-climbing machine according to claim 1, characterized in that, Also includes: The second drive assembly includes a second drive section and a second transmission section. The second drive section is connected to the support foot, and the second drive section drives the support foot to rotate relative to the second end of the support arm through the second transmission section.

6. The stair-climbing machine according to claim 1, characterized in that, The supporting foot is rotatably connected to the side of the second end away from the main body.

7. The stair-climbing machine according to claim 1, characterized in that, The support arm and the support foot are arranged sequentially along the height direction of the stair climber.

8. The stair-climbing machine according to claim 7, characterized in that, When the support arm and the support foot are in a folded state, the second end of the support arm and the support foot are interlocked.

9. The stair-climbing machine according to claim 8, characterized in that, When the support arm and the support foot are in the folded state, the adjacent surfaces of the support arm and the support foot are in contact.

10. The stair-climbing machine according to claim 8, characterized in that, The support arm is a telescopic structure, comprising a first arm and a second arm that are nested together and can move relative to each other. The first arm is rotatably connected to the main body, and the second arm is rotatably connected to the support foot.

11. The stair-climbing machine according to claim 10, characterized in that, The support arm further includes a third drive assembly, which includes a third drive section and a third transmission section. The third drive section is connected to the first support arm or the second support arm, and the third drive section drives the first support arm and the second support arm to move relative to each other through the third transmission section.

12. The stair-climbing machine according to claim 8, characterized in that, The support arm is a rotating structure, comprising a first arm and a second arm that are rotatably connected. The first arm is rotatably connected to the main body, and the second arm is rotatably connected to the support foot.

13. The stair-climbing machine according to claim 11, characterized in that, The support arm further includes a fourth drive assembly, which includes a fourth drive unit and a fourth transmission unit. The fourth drive unit is connected to the first support arm or the second support arm, and the fourth drive unit drives the first support arm to rotate relative to the second support arm through the fourth transmission unit.

14. The stair-climbing machine according to claim 1, characterized in that, The main body is provided with a receiving cavity to accommodate the cleaning robot. The mounting port is opened in the bottom wall of the receiving cavity. An opening communicating with the bottom wall of the receiving cavity is opened on one side of the receiving cavity, and the opening allows the cleaning robot to pass through.

15. The stair-climbing machine according to claim 14, characterized in that, The main body includes a bottom plate and a side plate that enclose the receiving cavity, the side plate having the opening, and the bottom plate having the mounting port; The main body also includes a reinforcing plate connected to the base plate, with both ends of the reinforcing plate connected to the side plate and distributed around the mounting opening.

16. The stair-climbing machine according to claim 15, characterized in that, The receiving cavity is cuboid, and the reinforcing plates are distributed at least at the corners of the cuboid away from the opening, with the corners formed between two adjacent side plates; The number of reinforcing plates at the same corner is one or at least two. The reinforcing plate is either straight or has a bent structure.

17. The stair-climbing machine according to claim 16, characterized in that, When the number of reinforcing plates at the same corner is at least two At least two of the reinforcing plates are arranged in parallel; and / or The adjacent reinforcing plates are connected by connecting plates.

18. The stair-climbing machine according to claim 1, characterized in that, Also includes: A power supply unit and a communication unit electrically connected to the power supply unit, wherein the power supply unit is disposed on the main body or the carrier plate; The cleaning robot includes a charging unit and a control system. The charging unit of the cleaning robot, which is mounted on the carrier plate, is in contact with the power supply unit so that the communication unit and the control system are electrically connected.

19. The stair-climbing machine according to claim 1, characterized in that, The bottom of the main body is also connected to a support wheel, and the support wheel protrudes from the bottom of the main body by a height of 1mm to 9mm.

20. A cleaning robot system, characterized in that, include: Cleaning robot, and stair climber as claimed in any one of claims 1 to 19.

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