Chassis lifting structure of cleaning robot and cleaning robot

Abstract

The utility model discloses a chassis lifting structure of a cleaning robot and the cleaning robot, the chassis lifting structure comprises a main body, a driven wheel assembly and a lifting mechanism, the driven wheel assembly is arranged at the bottom of the main body, the driven wheel assembly is arranged close to the head of the main body, and the driven wheel assembly comprises a mounting frame and a driven wheel; a guide wheel is arranged on the front side of the mounting frame, and the driven wheel is rotationally connected to the mounting frame; the lifting mechanism is arranged on the main body, is in transmission connection with the mounting frame and is used for driving the mounting frame to lift so as to adjust the head height of the main body. When the cleaning robot encounters an obstacle, the driven wheel assembly can be driven by the lifting mechanism to adjust the head height of the main body, lifting of the shell can be driven by lifting of the main body, meanwhile, the obstacle crossing action of the cleaning robot is smoothly completed through guiding of the guide wheels, and the obstacle crossing success rate of the cleaning robot is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a chassis lifting structure of a cleaning robot and the cleaning robot. BACKGROUND

[0002] Cleaning robots gradually develop from primary intelligence to a higher degree of intelligence, and gradually replace manual cleaning, and will become an indispensable cleaning aid for many families, such as sweeping machines, scrubbers, etc. In the related art, due to the diversified environment encountered by the cleaning robot, such as the threshold of the family room, the indoor steps or the thick floor pad, some cleaning robots cannot pass through, thereby causing large-area missed sweeping and missed mopping, and even causing the robot to be stuck or to be down, etc. Therefore, how to overcome the above defects is a technical problem to be solved by the person skilled in the art. CONTENT OF THE UTILITY MODEL

[0003] The embodiment of the present application provides a chassis lifting structure of a cleaning robot and the cleaning robot, which can realize the obstacle crossing function of the cleaning robot.

[0004] In a first aspect, the embodiment of the present application provides a chassis lifting structure of a cleaning robot, comprising:

[0005] a main body;

[0006] a driven wheel assembly arranged at the bottom of the main body and close to the head of the main body, the driven wheel assembly comprising a mounting frame and a driven wheel, the front side of the mounting frame being provided with a guide wheel, and the driven wheel being rotationally connected to the mounting frame;

[0007] a lifting mechanism arranged on the main body and in transmission connection with the mounting frame, the lifting mechanism being used to drive the mounting frame to lift and adjust the height of the head of the main body.

[0008] In a second aspect, the embodiment of the present application further provides a cleaning robot, comprising a shell and the chassis lifting structure of the cleaning robot as described in any of the above embodiments, the chassis lifting structure being arranged on the shell.

[0009] Based on the chassis lifting structure and the cleaning robot in the embodiment of the present application, the embodiment drives the whole driven wheel assembly to lift through the lifting mechanism, so that the driven wheel assembly can adjust the height of the head of the main body, and the lifting of the main body can drive the lifting of the shell, thereby realizing the function of lifting the head of the cleaning robot to facilitate obstacle crossing. Meanwhile, the guide wheel is arranged on the front side of the mounting frame, so that when the cleaning robot crosses the obstacle, the guide wheel can contact the obstacle, and the guide wheel rolls along the surface of the obstacle in the process of advancing of the cleaning robot, thereby reducing the friction between the mounting frame and the obstacle, effectively reducing the advancing resistance, to further assist the head of the cleaning robot to cross the obstacle faster, so that the cleaning robot crosses the obstacle more smoothly, and even when encountering higher or irregular shaped obstacles, the cleaning robot can maintain stable and continuous cleaning operation. That is, when the cleaning robot encounters an obstacle, the support of the driven wheel assembly and the guidance of the guide wheel can be used to make the cleaning robot smoothly complete the obstacle crossing action, not only improving the success rate of the cleaning robot crossing the obstacle, but also ensuring the continuity and efficiency of the cleaning operation. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0011] Figure 1 The structure schematic diagram of the chassis lifting structure of the cleaning robot in an embodiment of the present application in a normal state;

[0012] Figure 2 The structure schematic diagram of the head lifting of the main body in an embodiment of the present application;

[0013] Figure 3 The structure schematic diagram of the head lifting of the main body in another embodiment of the present application;

[0014] Figure 4 The obstacle crossing process schematic diagram of the chassis lifting structure of the cleaning robot in an embodiment of the present application;

[0015] Figure 5 The structure schematic diagram of part of the head lifting of the main body in still another embodiment of the present application;

[0016] Figure 6 The structure schematic diagram of the lifting mechanism in an embodiment of the present application;

[0017] Figure 7 The exploded structure schematic diagram of the lifting mechanism in an embodiment of the present application;

[0018] Figure 8 Figure 1 is a schematic diagram of a part of a cross-sectional structure of a lifting mechanism in an embodiment of the present application.

[0019] Reference signs:

[0020] 100, cleaning robot; 101, shell;

[0021] 10, main body; 11, head; 111, lifting groove; 12, tail;

[0022] 20, driven wheel assembly; 21, mounting bracket; 211, guide surface; 22, driven wheel; 23, guide wheel;

[0023] 30, lifting mechanism; 31, lifting seat; 311, first cavity; 312, first side wall; 313, second side wall; 314, position-avoiding hole; 32, transmission member; 321, large-end end; 3211, abutting surface; 322, small-end end; 3221, position-avoiding surface; 323, mounting hole; 33, driving member; 331, output shaft; 3311, first plane; 34, protruding part; 35, support sleeve;

[0024] 40, driving wheel assembly. DETAILED DESCRIPTION

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technical solutions, the following will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0026] In the related art, since cleaning devices encounter diversified environments, such as household room thresholds, indoor steps, or relatively thick floor mats, some cleaning devices cannot pass through, thereby resulting in large-area missed sweeping, missed mopping, and even machine jamming, downtime, and other failure conditions. Therefore, how to overcome the above-mentioned defects is a technical problem that needs to be solved by those skilled in the art.

[0027] In view of the above situation, please refer to Figures 1-3 The present application proposes a cleaning robot 100, which comprises a shell 100 and a chassis lifting structure (not shown separately in the figure), and the chassis lifting structure is arranged on the shell 100. The bottom of the shell 101 can also be provided with cleaning structures such as a rolling brush and an edge brush, so as to perform cleaning work.

[0028] The chassis lifting structure of the cleaning robot 100 comprises a main body 10, a driven wheel assembly 20 and a lifting mechanism 30. The main body 10 provides a setting basis and mounting space for the driven wheel assembly 20 and the lifting mechanism 30. The lifting mechanism 30 can drive the driven wheel assembly 20 to lift, so as to adjust the head height of the main body 10. Meanwhile, the lifting of the main body 10 can drive the lifting of the shell 101, so that the whole cleaning robot 100 can realize the obstacle climbing function.

[0029] As shown in Figures 1-3 The driven wheel assembly 20 is arranged at the bottom of the main body 10 and close to the head 11 of the main body 10. The driven wheel assembly 20 comprises a mounting frame 21 and a driven wheel 22. The front side of the mounting frame 21 is provided with a guide wheel 23. The driven wheel 22 and the guide wheel 23 are both rotationally connected to the mounting frame 21. The lifting mechanism 30 is arranged on the main body 10 and in transmission connection with the mounting frame 21. The lifting mechanism 30 is used to drive the mounting frame 21 to lift, so as to adjust the head 11 height of the main body 10.

[0030] Specifically, the main body 10 has a head 11 (also referred to as front side) and a tail 12 (also referred to as rear side). The direction from the head 11 to the tail 12 is the retreat direction of the main body 10. The direction from the tail 12 to the head 11 is the advancing direction of the main body 10. The distance from the driven wheel assembly 20 to the head 11 of the main body 10 is less than the distance from the driven wheel assembly 20 to the tail 12 of the main body 10. Therefore, the lifting of the mounting frame 21 can adjust the head 11 height of the main body 10. The mounting frame 21 can provide a setting basis for the driven wheel 22. The guide wheel 23 is located at the front side of the mounting frame 21. When the cleaning robot 100 moves in the advancing direction, the side of the mounting frame 21 facing the front is the front side of the mounting frame 21, that is, the guide wheel 23 faces the head 11 direction of the main body 10. The lifting mechanism 30 can drive the mounting frame 21 and the driven wheel 22 to lift as a whole.

[0031] It should be noted that in this embodiment, the driven wheel assembly 20 is driven to rise and fall as a whole by setting up a lifting mechanism 30, so that the driven wheel assembly 20 can adjust the height of the head 11 of the main body 10. The lifting of the chassis lifting structure can drive the cleaning robot 100 to rise as a whole, thereby realizing the function of raising the head 11 of the cleaning robot 100 to facilitate obstacle crossing. At the same time, a guide wheel 23 is set on the front side of the mounting frame 21, so that when the cleaning robot 100 crosses an obstacle, the guide wheel 23 can contact the obstacle, and the guide wheel 23 rolls along the surface of the obstacle during the movement of the cleaning robot 100, thereby reducing the friction between the mounting frame 21 and the obstacle, effectively reducing the forward resistance, and further assisting the head 11 of the cleaning robot 100 to cross the obstacle more quickly, so that the obstacle crossing of the cleaning robot 100 is smoother. Even when encountering high or irregularly shaped obstacles, the cleaning robot 100 can maintain stable and continuous cleaning operations. In other words, when the cleaning robot 100 encounters an obstacle, it can use the support of the driven wheel assembly 20 and the guidance of the guide wheel 23 to enable the cleaning robot 100 to successfully complete the obstacle crossing action, which not only improves the obstacle crossing success rate of the cleaning robot 100, but also ensures the continuity and efficiency of the cleaning operation.

[0032] It should also be noted that the cleaning robot 100 includes a drive wheel assembly 40 located at the bottom of the main body 10. The drive wheel assembly 40 is situated between the driven wheel assembly 20 and the tail 12 of the main body 10. The drive wheel assembly 40 is used to move the main body 10 on the working surface, enabling the main body 10 to autonomously walk and perform cleaning tasks on the working surface. The driven wheel 22 is preferably a swivel wheel to facilitate the reversal of the cleaning robot 100 and to adapt to different ground conditions. The drive wheel assembly 40 and the driven wheel assembly 20 together support the main body 10 to improve the stability and flexibility of the main body 10 when walking on the working surface. Alternatively, the head of the main body 10 refers to the position near the edge of the main body 10, that is, the driven wheel assembly 20 is located near the edge of the main body 10, and the drive wheel assembly 40 is located near the center of the main body 10. The relative positions between the driven wheel assembly 20 and the drive wheel assembly 40 can be set according to the actual situation and are not specifically limited here.

[0033] For example, such as Figures 1-3 As shown, Figures 1-3 The diagram illustrates the process of raising the head 11 of the cleaning robot 100. When the cleaning robot 100 is overcoming obstacles, the lifting mechanism 30 drives the mounting frame 21 and driven wheels 22 to extend relative to the main body 10. At this time, the mounting frame 21 and driven wheels 22 come into contact with the ground. Under the reaction force of the ground, the driven wheel assembly 20 pushes the head 11 of the main body 10 upward, at which point the guide wheels 23 on the mounting frame 21 are exposed. The height at which the head 11 of the cleaning robot 100 is raised can be selected according to actual conditions, such as...Figure 2 and Figure 3 As shown in FIG. 1, when encountering obstacles of different heights, the head 11 of the main body 10 can be raised to a height sufficient for the cleaning robot 100 to cross the obstacle, thereby improving the obstacle-crossing speed of the cleaning robot 100. As shown in FIG. 2, Figure 4 As shown in FIG. 3, Figure 4 (a)-(d) of FIG. 4 schematically show the entire process of the cleaning robot 100 crossing the obstacle. The driving wheel assembly 40 of the cleaning robot 100 moves in the advancing direction, the head 11 of the main body 10 is higher than the obstacle, the guide wheel 23 on the mounting bracket 21 contacts the obstacle and rolls along the surface of the obstacle, thereby driving the head 11 of the main body 10 to cross onto the obstacle. The driving wheel assembly 40 of the cleaning robot 100 continues to move in the advancing direction, i.e., drives the tail 12 of the main body 10 to cross onto the obstacle, thereby realizing the obstacle-crossing of the cleaning robot 100. After the obstacle-crossing is completed, the lifting mechanism 30 retracts the mounting bracket 21 and the driven wheel 22, and restores the initial state, ensuring the stable walking of the cleaning robot 100 on the flat ground.

[0034] In this way, when the cleaning robot 100 normally works, the lifting mechanism 30 is in standby state, and is started only when encountering obstacles, so as to save energy consumption. When the lifting mechanism 30 is started, the height of the obstacle can be detected by the sensor arranged at the head 11 of the main body 10, and the lifting amplitude of the lifting seat 31 is automatically adjusted to ensure the head 11 of the main body 10 to be accurately raised and smoothly cross the obstacle. After the head 11 is raised, the driving wheel assembly 40 can also be raised, thereby realizing the lifting obstacle-crossing of the tail 12 of the main body 10.

[0035] In some embodiments of the present application, as shown in FIG. 5, the front side of the mounting bracket 21 has a guide surface 211, which extends downwardly and obliquely along the direction from the head 11 of the main body 10 to the tail 12 of the main body 10. The guide wheel 23 is arranged on the guide surface 211, and the wheel shaft of the guide wheel 23 is parallel to the guide surface 211. Figure 5 Specifically, the guide surface 211 is an inclined surface. When the cleaning robot 100 is crossing the obstacle, the front side of the mounting bracket 21 faces the obstacle, and the cleaning robot 100 moves in the advancing direction. Then, the mounting bracket 21 moves upwardly and obliquely under the blocking action of the obstacle. At this time, the guide surface 211 can provide a guiding action for the mounting bracket 21, and when the guide surface 211 contacts the surface of the obstacle, the pressure can be effectively dispersed, thereby preventing the mounting bracket 21 from unnecessary shaking or damage due to concentrated stress. In addition, the inclined design of the guide surface 211 also helps the cleaning robot 100 to more smoothly transition when encountering uneven obstacles, thereby ensuring the structural stability of the robot and the cleaning efficiency.

[0036]

[0037] ​Meanwhile, in the process of the cleaning robot 100 crossing the obstacle, the rolling friction generated by the contact between the guide wheel 23 on the guide surface 211 and the obstacle can effectively reduce the advancing resistance and assist the robot head 11 to cross the obstacle more quickly. In addition, the wheel shaft of the guide wheel 23 is parallel to the guide surface 211, which ensures that the guide wheel 23 can uniformly disperse the pressure and reduce the wear in the process of crossing the obstacle. Preferably, the guide wheel 23 can be made of wear-resistant material to withstand long-time friction without being easily damaged. In addition, the material of the guide wheel 23 can be polyurethane or rubber to provide good anti-skid performance and reduce noise.

[0038] Further, as shown in Figure 5 the projection length of the guide wheel 23 on a reference surface perpendicular to the wheel shaft direction of the guide wheel 23 is less than or equal to the projection length of the driven wheel 22 on the reference surface perpendicular to the wheel shaft direction of the guide wheel 23. It can be understood that the driven wheel 22 is more protruding than the guide wheel 23 relative to the guide surface 211, thereby forming a stepped transition structure, so that the main body 10 is in a gradually lifting state in the process of lifting and crossing the obstacle, preventing the lifting height of the main body 10 from suddenly decreasing and then increasing, gradually guiding the entire main body 10 to stably rise, reducing the impact, and ensuring the stability and safety of the obstacle crossing process.

[0039] Further, as shown in Figure 5 on the reference surface perpendicular to the wheel shaft direction of the guide wheel 23, the projection of the peripheral side surface of the driven wheel 22 at least partially overlaps the projection of the guide surface 211. Specifically, the at least partial overlap of the projections means that the peripheral side surface of the driven wheel 22 and the guide surface 211 can be in abutment with each other, or the gap between the peripheral side surface of the driven wheel 22 and the guide surface 211 is less than or equal to a preset value, such as 5 mm. Since the distance between the two is small, the projection of the peripheral side surface of the driven wheel 22 on the reference surface is approximately coincident with the projection of the guide surface 211. The peripheral side surface of the driven wheel 22 is a circular arc surface, which makes the joint between the guide surface 211 and the driven wheel 22 smoother, thereby reducing the frictional resistance and improving the stability and smoothness when crossing the obstacle. The coordinated action of the guide wheel 23 and the driven wheel 22 can further improve the obstacle crossing ability and working efficiency of the main body 10.

[0040] Please refer to Figure 3 In some embodiments of the present application, the head 11 of the main body 10 has a lifting groove 111 extending in the lifting direction of the mounting frame 21, and at least part of the driven wheel assembly 20 is arranged in the lifting groove 111, and the lifting mechanism 30 drives the driven wheel assembly 20 to lift in the lifting groove 111.

[0041] Specifically, during the moving process of the cleaning robot 100, the driven wheel assembly 20 is in close contact with the ground, and when the lifting mechanism 30 drives the driven wheel assembly 20 to lift, the driven wheel assembly 20 will push the head 11 of the main body 10 to lift, thereby achieving the purpose of obstacle crossing. The lifting groove 111 of the head 11 of the main body 10 can provide a guiding effect for the driven wheel assembly 20, so that the driven wheel assembly 20 can stably move along the extension direction of the lifting groove 111 during the lifting process, thereby ensuring the smoothness and accuracy of the lifting process of the driven wheel assembly 20.

[0042] Further, the lifting path of the mounting frame 21 has a first height position and a second height position, when the mounting frame 21 is located at the first height position, the guide wheel 23 is located in the lifting groove 111, and when the mounting frame 21 is located at the second height position, the guide wheel 23 is located outside the lifting groove 111.

[0043] Specifically, the guide wheel 23 is arranged at the front side of the mounting frame 21, when the mounting frame 21 is located at the first height position, the head of the main body 10 of the cleaning robot 100 is not lifted, that is, the cleaning robot 100 can be in a normal working state, at this time the guide wheel 23 is located inside the lifting groove 111; only when the lifting mechanism 30 drives the mounting frame 21 to move towards the ground until the mounting frame 21 is located at the second height position, the head of the main body 10 of the cleaning robot 100 is lifted, at this time the guide wheel 23 on the mounting frame 21 will be exposed from the lifting groove 111, and then when the cleaning robot 100 crosses the obstacle, the front side of the mounting frame 21 contacts the obstacle, and the guide wheel 23 will play a role to contact the obstacle to provide additional support force for the main body 10, so as to ensure that the cleaning robot 100 crosses the obstacle smoothly. Therefore, the position design of the guide wheel 23 makes it suspended in the non-obstacle crossing state, avoiding unnecessary friction and wear, and also reducing the hair winding on the guide wheel 23, prolonging the service life of the guide wheel 23.

[0044] Please refer to Figure 6 In some embodiments of the present application, the lifting mechanism 30 includes a lifting seat 31, a transmission member 32 and a driving member 33, the lifting seat 31 is slidingly connected with the main body 10, and the mounting frame 21 is connected with the lifting seat 31; the transmission member 32 is in transmission connection with the lifting seat 31; the driving member 33 is connected with the main body 10, and the driving member 33 is in transmission connection with the lifting seat 31 through the transmission member 32, and the driving member 33 is used to drive the lifting seat 31 to lift, so as to drive the driven wheel assembly 20 to lift.

[0045] Specifically, the driving member 33 provides power for the transmission member 32, so that the transmission member 32 can drive the lifting seat 31 and the mounting frame 21 to lift, the driving member 33 is connected with the main body 10, when the head 11 of the main body 10 is lifted, the driving member 33 and the transmission member 32 can move together with the main body 10; the mounting frame 21 can be fixedly connected with the lifting seat 31, so as to ensure the stability and reliability of the mounting frame 21 during lifting. Wherein, the lifting seat 31 can also be arranged in the lifting groove 111, so that the lifting groove 111 can provide guiding effect for both the lifting seat 31 and the driven wheel assembly 20, so that the lifting seat 31 and the driven wheel assembly 20 can stably move along the extension direction of the lifting groove 111 during lifting, thereby ensuring the smoothness and accuracy of the lifting process of the lifting seat 31 and the driven wheel assembly 20.

[0046] In some embodiments, the lifting seat 31 is provided with a guide strip extending along the lifting direction of the lifting seat 31, the guide strip is matched with the inner wall of the lifting groove 111, when the lifting seat 31 lifts, the guide strip can effectively limit the swing amplitude of the lifting seat 31, and increase the stability of the movement.

[0047] Further, please refer to Figure 6 In some embodiments of the present application, the driving member 33 includes an output shaft 331, the output shaft 331 is connected with the transmission member 32, and the driving member 33 is used to drive the transmission member 32 to rotate, so as to drive the lifting seat 31 to lift.

[0048] Wherein, the driving member 33 is a driving motor, the output shaft 331 is a rotating shaft of the motor, the motor drives the output shaft 331 and the transmission member 32 on the output shaft 331 to rotate synchronously, thereby realizing the lifting action of the lifting seat 31 and the driven wheel assembly 20, that is, the transmission member 32 can convert the rotary motion into the linear motion of the lifting seat 31, specifically, the specific transmission mode between the transmission member 32 and the lifting seat 31 can be realized by various transmission structures, such as crank slider mechanism, cam mechanism, gear and rack mechanism or ball screw mechanism, which is not limited here.

[0049] Further, please refer to Figures 6-7 In some embodiments of the present application, the peripheral wall surface of the output shaft 331 includes a first plane 3311 extending along the axial direction thereof; the transmission member 32 is provided with a mounting hole 323 for inserting the output shaft 331, the hole wall surface of the mounting hole 323 includes a second plane, the first plane 3311 is parallel to and in contact with the second plane.

[0050] Specifically, the transmission member 32 is sleeved on the output shaft 331 through the mounting hole 323, so that the transmission member 32 can rotate synchronously with the output shaft 331, and at the same time, the stability of the synchronous rotation movement of the transmission member 32 and the output shaft 331 is ensured through the interaction between the first plane 3311 and the second plane, and relative rotation between the transmission member 32 and the output shaft 331 is prevented, thereby ensuring the accuracy of the entire lifting system. In addition, on the basis of preventing relative rotation between the transmission member 32 and the output shaft 331, the structure design of the transmission member 32 and the output shaft 331 enables the transmission member 32 to move axially on the output shaft 331, thereby facilitating disassembly and replacement of the transmission member 32 and the output shaft 331. The axial movement of the transmission member 32 provides convenience for maintenance and simplifies the complex disassembly process. After the transmission member 32 is mounted on the output shaft 331, a detachable fixing member can be arranged between the transmission member 32 and the output shaft 331 to fix the transmission member 32 on the output shaft 331, so as to prevent the transmission member 32 from moving axially during rotation. When the transmission member 32 needs to be disassembled, the fixing member can be disassembled first, and then the transmission member 32 is separated from the output shaft 331.

[0051] In some embodiments, the transmission member 32 and the output shaft 331 can be connected by key connection, pin connection or interference fit, so as to ensure accurate connection between the transmission member 32 and the output shaft 331, enhance the tightness and reliability of the connection between the transmission member 32 and the output shaft 331, and prevent relative displacement between the transmission member 32 and the output shaft 331 in the axial direction due to vibration or other external forces. Thus, not only the transmission efficiency of the transmission member 32 and the output shaft 331 is improved, but also the operation stability of the cleaning robot 100 is further enhanced.

[0052] In some embodiments of the present application, as shown in Figure 8 The lifting mechanism 30 further includes a support sleeve 35 sleeved on the output shaft 331, the support sleeve 35 is connected with the main body 10, and the output shaft 331 can rotate relative to the support sleeve 35.

[0053] Specifically, the support sleeve 35 is fixed with the main body 10, so that the output shaft 331 is fixed on the main body 10 through the support sleeve 35. The support sleeve 35 provides support for the output shaft 331, ensures the stability of the output shaft 331 during rotation, reduces vibration and wear, and prolongs the service life. The support sleeve 35 can be provided in multiple numbers, for example, two support sleeves 35 are provided, and the two support sleeves 35 are arranged on opposite sides of the transmission member 32 to form a symmetrical support structure, which further balances the stress of the output shaft 331, prevents the output shaft 331 from being damaged due to a single stress point, and improves the stability and durability of the overall structure.

[0054] Please refer to Figure 7In some embodiments of the present application, the outer circumferential side of the transmission member 32 is arranged around the output shaft 331, and the outer circumferential side of the transmission member 32 comprises a clearance surface 3221 and an abutting surface 3211 arranged along the circumference of the transmission member 32, the maximum distance from the abutting surface 3211 to the output shaft 331 is greater than the maximum distance from the clearance surface 3221 to the output shaft 331; wherein the driving member 33 is configured to drive the transmission member 32 to rotate, so that the abutting surface 3211 abuts and separates from the lifting seat 31, thereby achieving the lifting of the lifting seat 31.

[0055] Specifically, the transmission member 32 comprises a large end 321 and a small end 322 arranged oppositely, and the mounting hole 323 on the transmission member 32 is located between the large end 321 and the small end 322. Since the output shaft 331 is inserted into the mounting hole 323, the abutting surface 3211 is located on the side of the large end 321 away from the output shaft 331, and the clearance surface 3221 is located on the side of the small end 322 away from the output shaft 331. The distance from the abutting surface 3211 to the output shaft 331 is larger, and the distance from the clearance surface 3221 to the output shaft 331 is smaller. During the rotation of the transmission member 32, the position of the large end 321 will also rotate, thereby causing the abutting surface 3211 to abut against different positions of the lifting seat 31, so as to push the lifting seat 31 to lift.

[0056] It should be noted that when the abutting surface 3211 abuts against the lifting seat 31, the abutting surface 3211 can provide a supporting force to the lifting seat 31 to ensure the stability of the lifting seat 31 during the lifting or lowering process. At this time, there can be no force between the clearance surface 3221 and the lifting seat 31, that is, there can be a certain gap between the clearance surface 3221 and the lifting seat 31, so that during the rotation of the transmission member 32, the clearance surface 3221 will not substantially contact the lifting seat 31, thereby avoiding unnecessary friction and wear, so as to reduce the interference generated by the clearance surface 3221.

[0057] Further, in some embodiments of the present application, as shown in Figures 6-7 the lifting seat 31 has a first cavity 311, and the transmission member 32 is located in the first cavity 311. The inner wall surface of the first cavity 311 comprises a first side wall 312 and a second side wall 313 arranged at intervals along the lifting direction of the lifting seat 31. The transmission member 32 has a first preset position and a second preset position on the rotation path thereof. When the transmission member 32 is located at the first preset position, the abutting surface 3211 of the transmission member 32 abuts against the first side wall 312. When the transmission member 32 is located at the second preset position, the abutting surface 3211 abuts against the second side wall 313.

[0058] It can be understood that the first cavity 311 provides a rotating space for the transmission member 32, so as to ensure that the transmission member 32 can be smoothly switched between the first preset position and the second preset position, and the transmission member 32 is arranged in the first cavity 311 of the lifting seat 31, which can also effectively utilize the space, so that the overall structure is more compact. For example, the first side wall 312 is located at the upper part of the first cavity 311, and the second side wall 313 is located at the lower part of the first cavity 311. When the cleaning robot 100 is in a normal working state, the transmission member 32 is located at the first preset position, and the abutting surface 3211 of the transmission member 32 first abuts against the first side wall 312, that is, the abutting surface 3211 abuts against the upper part of the first cavity 311, and at this time, the lifting seat 31 is in a raised state under the support of the large end 321 of the transmission member 32. When the chassis lifting structure needs to lift the head 11 of the main body 10, that is, at this time, the lifting seat 31 needs to be lowered, the driving member 33 drives the transmission member 32 to rotate, and the transmission member 32 is rotated from the first preset position to the second preset position, and the abutting surface 3211 of the transmission member 32 is in contact with the second side wall 313 of the lifting seat 31, that is, the abutting surface 3211 abuts against the lower part of the first cavity 311, and at this time, the large end 321 of the transmission member 32 pushes the lifting seat 31 to be lowered, and at the same time, the head 11 of the main body 10 is lifted.

[0059] Among them, the first side wall 312 and the second side wall 313 can be provided with grooves for contacting the abutting surface 3211 of the transmission member 32, increasing the friction of the transmission member 32 at the first preset position and the second preset position, so as to better constrain the transmission member 32 and improve the stability of the transmission member 32 at the first preset position and the second preset position, thereby improving the accuracy and reliability of the operation of the lifting seat 31. At the same time, the grooves can also absorb the impact generated by the transmission member 32 during rotation to some extent, prolonging the service life of the transmission system.

[0060] In some embodiments, as shown in Figure 7 The inner wall surface of the first cavity 311 further includes oppositely arranged third and fourth side walls, and the first side wall 312, the third side wall, the second side wall 313 and the fourth side wall are sequentially connected to form the first cavity 311. The third and fourth side walls are provided with avoidance holes 314, which can provide a moving space for the large end 321 of the transmission member 32 when the transmission member 32 rotates, so as to prevent the third and fourth side walls from hindering the normal rotation of the transmission member 32 and reduce the jamming and friction of the transmission member 32.

[0061] Further, as shown in Figure 7 The transmission member 32 is provided with a protruding portion 34 on the side along the axial direction of the output shaft 331, and the side of the protruding portion 34 away from the output shaft 331 is flush with the abutting surface 3211, and the protruding portion 34 is used to abut against the lifting seat 31 together with the abutting surface 3211.

[0062] It can be understood that the setting of the protruding part 34 can increase the contact area of the transmission part 32 and the lifting seat 31, further improve the stability of the abutment of the transmission part 32 and the lifting seat 31, ensure that the transmission part 32 is not easy to deviate during the lifting process of the lifting seat 31, thereby ensuring the stability and accuracy of the lifting action, and at the same time, the design of the protruding part 34 also helps to disperse the pressure on the abutting surface 3211, reduces wear and tear, and prolongs the service life of the components. The shape and size of the protruding part 34 can be optimized according to actual needs, for example, the protruding part 34 can be designed as a hollow cylinder to reduce the overall weight while maintaining sufficient strength; or a curved surface with a curvature is provided on the protruding part 34 to better fit the contact surface of the lifting seat 31, further improving the contact effect.

[0063] As shown in Figures 1-3 It is also proposed in the present application that a cleaning robot 100 comprises a shell 100 and a chassis lifting structure of the cleaning robot 100 as described in any of the above embodiments, the chassis lifting structure is arranged in the shell 100, and the lifting of the main body 10 can drive the lifting of the shell 101, so that the overall cleaning robot 100 can realize the function of lifting obstacles. The bottom of the shell 101 can also be provided with cleaning structures such as rolling brushes and edge brushes for cleaning work.

[0064] The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it should be understood that the orientations or positional relationships indicated by terms such as "upper", "lower", "left", "right" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation of the present application, any modification, equivalent replacement and improvement made within the spirit and principles of the present application should be included in the protection scope of the present application.

[0065] The above is only a preferred embodiment of the present application, and does not limit the present application, any modification, equivalent replacement and improvement made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A chassis lifting structure of a cleaning robot, characterized by, The utility model relates to a kind of lifting mechanism and driving wheel assembly, including: Main body; Driven wheel assembly, is arranged in the bottom of the main body, and the driven wheel assembly is close to the head of the main body arrangement, the driven wheel assembly includes mounting bracket and driven wheel, the front side of the mounting bracket is provided with guide wheel, the driven wheel and the guide wheel are rotationally connected on the mounting bracket; Lifting mechanism, is arranged in the main body, and with the mounting bracket transmission connection, the lifting mechanism is used to drive the mounting bracket to lift, to adjust the head height of the main body.

2. The chassis lifting structure of the cleaning robot according to claim 1, wherein, The head of the main body has lifting groove extending along the lifting direction of the mounting bracket, at least part of the driven wheel assembly is arranged in the lifting groove, and the lifting mechanism drives the driven wheel assembly to lift in the lifting groove.

3. The chassis lifting structure of the cleaning robot according to claim 2, wherein, The mounting bracket has first height position and second height position on the lifting path, when the mounting bracket is located at first height position, the guide wheel is located in the lifting groove, when the mounting bracket is located at second height position, the guide wheel is located outside the lifting groove.

4. The chassis lifting structure of the cleaning robot according to claim 1, wherein, The lifting mechanism includes: Lifting seat, is slidably connected with the main body, the mounting bracket is connected with the lifting seat; Transmission part, is transmissionally connected with the lifting seat; Driving part, is connected with the main body, the driving part is transmissionally connected with the lifting seat by the transmission part, and the driving part is used to drive the lifting seat to lift, to drive the driven wheel assembly to lift. 5.The chassis lifting structure of the cleaning robot according to claim 4, characterized in that, The driving part includes output shaft, the output shaft is connected with the transmission part, and the driving part is used to drive the transmission part to rotate, to drive the lifting seat to lift. 6.The chassis lifting structure of the cleaning robot according to claim 5, wherein, The outer circumferential side of the transmission part is arranged around the output shaft, and the outer circumferential side of the transmission part includes avoiding surface and abutting surface arranged along the circumference of the transmission part, the maximum distance of the abutting surface to the output shaft is greater than the maximum distance of the avoiding surface to the output shaft; Wherein, the driving part is used to drive the transmission part to rotate, to make the abutting surface and the lifting seat abut and separate, to realize the lifting of the lifting seat. 7.The chassis lifting structure of the cleaning robot according to claim 6, wherein, The lifting seat has first cavity, the transmission part is located in the first cavity, and the inner wall surface of the first cavity includes first side wall and second side wall spaced apart along the lifting direction of the lifting seat; The transmission part has first preset position and second preset position on the rotation path, when the transmission part is located at first preset position, the abutting surface and the first side wall abut, when the transmission part is located at second preset position, the abutting surface and the second side wall abut. 8.The chassis lifting structure of the cleaning robot according to claim 6, wherein, The side of the transmission part along the axial direction of the output shaft is provided with protruding portion, the side of the protruding portion away from the output shaft is flush with the abutting surface, and the protruding portion is used to abut the lifting seat with the abutting surface. 9.The chassis lifting structure of the cleaning robot according to claim 5, wherein, The circumferential wall surface of the output shaft includes first plane extending along its axial direction; The transmission part is provided with mounting hole for the output shaft to insert, and the hole wall surface of the mounting hole includes second plane, and the first plane and the second plane are parallel and contact. 10.The chassis lifting structure of the cleaning robot according to claim 5, wherein, The lifting mechanism further includes support sleeve sleeved on the output shaft, the support sleeve is connected with the main body, and the output shaft can rotate relative to the support sleeve. 11.The chassis lifting structure of the cleaning robot according to claim 1, wherein, The front side of the mount has a guide surface which extends obliquely downward in a direction from a head of the main body to a tail of the main body, the guide wheel is provided to the guide surface, and an axle of the guide wheel is parallel to the guide surface. 12.The chassis lifting structure of the cleaning robot according to claim 11, wherein, In a reference surface perpendicular to a direction of the axle of the guide wheel, a projected length of the guide wheel is less than or equal to a projected length of the driven wheel. 13.The chassis lifting structure of the cleaning robot according to claim 11, wherein, In a reference surface perpendicular to a direction of the axle of the guide wheel, a projection of a wheel circumference side surface of the driven wheel at least partially coincides with a projection of the guide surface.

14. A cleaning robot, characterized in that, A cleaning robot comprising a housing and a chassis lifting structure as claimed in any one of claims 1 to 13, the chassis lifting structure being provided to the housing.

Images