Cleaning robot and cleaning system

Abstract

The utility model belongs to the technical field of electrical equipment, and particularly relates to a cleaning robot and a cleaning system. The cleaning robot comprises a main body and a walking wheel assembly, the walking wheel assembly is connected with the main body and guides movement of the main body, the walking wheel assembly comprises a shell, a main wheel, an auxiliary wheel and a crawler belt, and the main wheel is rotationally connected with the shell to drive the cleaning robot to advance; the auxiliary wheels are rotationally connected with the shell. The auxiliary wheels and the main wheels are arranged at intervals. And the crawler belt is sleeved on at least part of the circumferential surface of the main wheel and at least part of the circumferential surface of the auxiliary wheel. The obstacle crossing ability of the cleaning robot can be improved, and the application range of the cleaning robot is wider.

Description

TECHNICAL FIELD

[0001] The present disclosure belongs to the technical field of electrical appliances, and particularly relates to a cleaning robot and a cleaning system. BACKGROUND

[0002] The cleaning robot is a common intelligent cleaning electrical appliance, such as a sweeping robot, an automatic sweeper, etc. The ability of the cleaning robot to cross obstacles during automatic travel is crucial to the cleaning robot, and the obstacle-crossing height limits the working range and the operation reliability of the cleaning robot.

[0003] In the related art, the cleaning robot has poor passability for high obstacles such as doorsteps and steps, and poor obstacle-crossing ability, which limits the working range of the cleaning robot and reduces the operation reliability. SUMMARY

[0004] The present disclosure provides a cleaning robot and a cleaning system, which aims to at least partly improve the obstacle-crossing ability of the cleaning robot.

[0005] In a first aspect of the present disclosure, a cleaning robot is provided, which comprises a main body and a walking wheel assembly connected to the main body, the walking wheel assembly guiding the movement of the main body, the walking wheel assembly comprising a housing connected to the main body, a main wheel rotatably connected to the housing to drive the cleaning robot to travel, an auxiliary wheel rotatably connected to the housing, the auxiliary wheel and the main wheel being arranged at intervals, and a track wrapped around at least part of the main wheel and at least part of the auxiliary wheel.

[0006] In a second aspect of the present disclosure, a cleaning system is provided, which comprises a base station and the above-mentioned cleaning robot cooperating with each other.

[0007] According to the cleaning robot and the cleaning system provided by the present disclosure, since the track of the walking wheel assembly is wrapped around at least part of the circumferential surface of the main wheel and at least part of the circumferential surface of the auxiliary wheel, the track can rotate synchronously with the main wheel and the auxiliary wheel when the cleaning robot is walking. When the cleaning robot is walking on a flat road surface, the main wheel is used to guide the movement of the main body. When the cleaning robot encounters an obstacle, the track contacts the obstacle, and the strong climbing ability of the track is used to make the cleaning robot cross the obstacle, so that the cleaning robot can perform a cleaning task in the space behind the obstacle, improve the obstacle-crossing ability of the cleaning robot, and make the application range of the cleaning robot wider. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments 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 any creative effort on the basis of these drawings.

[0009] Figure 1 Structure schematic diagram of a cleaning robot according to one embodiment of the present application;

[0010] Figure 2 Structure schematic diagram of a cleaning robot according to one embodiment of the present application; Figure 1 Structure schematic diagram of a cleaning robot according to one embodiment of the present application;

[0011] Figure 3 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0012] Figure 4 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 3 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0013] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 5 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 3 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0014] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 6 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 5 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0015] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 7 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0016] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 8 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0017] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 9 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0018] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 10 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0019] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 11 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0020] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 12 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 11 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0021] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 13 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0022] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Figure 14 Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application; Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;

[0023] Structure schematic diagram of a walking wheel assembly 150 according to one embodiment of the present application;Figure 15 Fig. 1 is a perspective view of a cleaning robot according to an embodiment of the present application; Figure 14 Fig. 2 is a perspective view of a cleaning robot according to an embodiment of the present application;

[0024] Figure 16 Fig. 4 is an assembly view of a driven wheel assembly of the cleaning robot according to an embodiment of the present application.

[0025] Reference numeral

[0026] Cleaning robot - 100

[0027] Main body - 110

[0028] Cover - 120

[0029] Rolling brush assembly - 130

[0030] Side brush assembly - 140

[0031] Travel wheel assembly - 150

[0032] Housing - 151, mounting hole - 1511, first receiving cavity - 1512, second receiving cavity - 1513, notch - 1514

[0033] Main wheel - 152, wheel body - 1521, tire - 1522, first assembly part - 1523, second assembly part - 1524, stop - 1525

[0034] Auxiliary wheel - 153

[0035] Track - 154

[0036] First driving member - 155

[0037] Transmission member - 156, input gear - 1561, output gear - 1562

[0038] Filling member - 157, assembly hole - 1571, sleeve - 1572

[0039] First shaft - S1, second shaft - S2

[0040] Driven wheel assembly - 160, second driving member - 161, worm gear mechanism - 162, ball screw mechanism - 163 DETAILED DESCRIPTION

[0041] In order to make the skilled person in the technical field to which the present disclosure belongs more clearly understand the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in combination with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by the person of ordinary skill in the art without creative labor fall within the scope of protection of the present disclosure.

[0042] In the related art, a cleaning robot 100 such as a sweeping robot, a mopping robot, or a sweeping and mopping integrated robot includes a main body, a walking wheel assembly provided at both sides of the bottom of the main body, and a driven wheel assembly for supporting the main body. By controlling the actions of the walking wheel assembly and the driven wheel assembly, the cleaning robot 100 can move forward, backward, left, and right in a cleaning area. However, in the process of cleaning the cleaning surface by the cleaning robot 100, a higher obstacle such as a threshold or a step may block the progress of the cleaning robot 100, causing the cleaning robot 100 to be unable to pass through, the obstacle surmounting capability being poor, and the working range and operation reliability of the cleaning robot 100 being limited.

[0043] Based on the above technical problem, the present disclosure provides a cleaning robot 100 and a cleaning system, which can improve the obstacle surmounting capability of the cleaning robot 100 to at least some extent.

[0044] Figure 1 FIG. 1 is a structural schematic diagram of a cleaning robot 100 according to an embodiment of the present disclosure, Figure 2 FIG. 2 is a front view of the cleaning robot 100 of FIG. 1, Figure 1 FIG. 3 is a bottom view of the cleaning robot 100 of FIG. 1. Referring to FIGS. 1 to 3, Figure 1 and Figure 2 The cleaning robot 100 includes a main body 110, a cover 120, a rolling brush assembly 130, and an edge brush assembly 140. The main body 110 defines the appearance of the cleaning robot 100 and supports various components installed therein. The cover 120 is provided on the top of the main body 110. The rolling brush assembly 130 and the edge brush assembly 140 are respectively assembled at the bottom of the main body 110. The rolling brush assembly 130 sweeps or disperses dust to improve dust suction efficiency. The edge brush assembly 140 is installed at opposite sides of the front side of the bottom of the main body 110 to sweep dust on a cleaning surface on which the cleaning robot 100 progresses into the inside of the main body 110 to perform a cleaning program of the cleaning robot 100.

[0045] In combination with Figure 2 The cleaning robot 100 further includes two walking wheel assemblies 150. The two walking wheel assemblies 150 are oppositely arranged at both sides of a central region of the bottom of the main body 110 in a progress direction. In the process of performing a cleaning program by the cleaning robot 100, the two walking wheel assemblies 150 can move forward, backward, or rotate according to an instruction to sweep a region that needs to be cleaned.

[0046] In combination Figure 2 The cleaning robot 100 further comprises a driven wheel assembly 160 rotatably mounted on the front side of the bottom of the main body 110, such that the angle of the driven wheel assembly 160 changes according to the condition of the floor on which the cleaning robot 100 moves, to stabilize the running posture of the cleaning robot 100. In another embodiment, the driven wheel assembly 160 can also be mounted on the rear of the main body 110, or both the front and rear of the main body 110 are provided with the driven wheel assembly 160, and the same purpose and effect can also be achieved.

[0047] Figure 3 A structural schematic diagram of a walking wheel assembly 150 of the present disclosure, Figure 4 is Figure 3 An internal schematic diagram of the filler 157. In combination Figure 3 and Figure 4 The walking wheel assembly 150 is mounted on the main body 110 of the cleaning robot 100, and guides the movement of the main body 110. The walking wheel assembly 150 comprises a housing 151, a main wheel 152 rotatably connected to the housing 151 to drive the cleaning robot 100 to move, an auxiliary wheel 153 rotatably connected to the housing 151, the auxiliary wheel 153 and the main wheel 152 being arranged in a spaced manner, and a track 154 sleeved on at least part of the circumferential surface of the main wheel 152 and at least part of the circumferential surface of the auxiliary wheel 153.

[0048] Since the track 154 of the walking wheel assembly 150 is sleeved on at least part of the circumferential surface of the main wheel 152 and at least part of the circumferential surface of the auxiliary wheel 153, the track 154 can rotate synchronously with the main wheel 152 and the auxiliary wheel 153 when the cleaning robot 100 is walking. When the cleaning robot 100 is walking on a flat road, the main wheel 152 is used to guide the movement of the main body 110. When the cleaning robot 100 encounters an obstacle, the track 154 contacts the obstacle, and the strong climbing ability of the track 154 enables the cleaning robot 100 to overcome the obstacle, thereby enabling the cleaning robot 100 to perform a cleaning task in the space behind the obstacle, improving the obstacle crossing ability of the cleaning robot 100, and making the application range of the cleaning robot 100 wider. The specific details of the walking wheel assembly 150 are further shown by the accompanying drawings.

[0049] In combination Figure 3 and Figure 4The shell 151 is provided with a mounting hole 1511, and a rotating shaft (not shown in the figure) is arranged in the mounting hole 1511 of the shell 151. The shell 151 is connected to the main body 110 through the rotating shaft. When the cleaning robot 100 is running, the shell 151 can rotate around the rotating shaft due to various road conditions such as smooth road surface and obstacles on the cleaning surface, so that the shell 151 can rotate relative to the main body 110 to adapt to different road conditions of the cleaning surface.

[0050] In combination with Figure 3 and Figure 4 , the walking wheel assembly 150 further comprises a first driving member 155 connected to the shell 151, and the first driving member 155 is connected to at least one of the main wheel 152 and the auxiliary wheel 153. That is, through the operation of the first driving member 155, one of the main wheel 152 and the auxiliary wheel 153 can be driven to rotate, and the other one of the main wheel 152 and the auxiliary wheel 153 can be driven to rotate through the transmission of the track 154.

[0051] Figure 5 For Figure 3 another perspective view of the structure, Figure 6 is a schematic view of the inside of the shell 151 of Figure 5 In combination with Figure 4 and Figure 6 , according to an embodiment of the present application, the first driving member 155 is a motor having a rotating output shaft. The output shaft of the first driving member 155 is connected to the central shaft of the main wheel 152 through a transmission member 156. That is, the main wheel 152 is a driving wheel, and the auxiliary wheel 153 is a driven wheel. The first driving member 155 provides the main wheel 152 with a rotating speed and a torque through the transmission member 156, so as to drive the auxiliary wheel 153 and the track 154 to rotate. In another embodiment, the first driving member 155 can also be connected to the auxiliary wheel 153. That is, the auxiliary wheel 153 is a driving wheel, and the main wheel 152 is a driven wheel. The walking wheel assembly 150 can also run and improve the obstacle-crossing ability of the cleaning robot 100.

[0052] In combination with Figure 5 and Figure 6The first driving member 155 and the main wheel 152 are located at the inner side of the shell 151, the output shaft of the first driving member 155 penetrates the shell 151 and is located at the inner side of the shell 151, and the transmission member 156 is located at the outer side of the shell 151, that is, the transmission member 156 and the main wheel 152 can be arranged at both sides of the shell 151 to effectively utilize the space. The transmission member 156 can be a reduction gear set, the transmission member 156 has an input gear 1561 and an output gear 1562, the input gear 1561 is connected to the output shaft of the first driving member 155, the input gear 1561 and the output gear 1562 are driven through a plurality of intermediate gears in meshing, and the output gear 1562 is connected to the central shaft of the main wheel 152. When the first driving member 155 receives a power output instruction, the power is transmitted to the central shaft of the main wheel 152 through the output shaft of the first driving member 155, the input gear 1561, the output gear 1562, and then the main wheel 152 is driven to rotate, and the rotating main wheel 152 drives the auxiliary wheel 153 to rotate synchronously through the track 154.

[0053] Figure 7 FIG. 1 is a structural schematic diagram of the cleaning robot 100 according to an embodiment of the present disclosure. FIG. 2 is a structural schematic diagram of the cleaning robot 100 according to an embodiment of the present disclosure. Figure 7 The inner side of the shell 151 is provided with a first accommodating cavity 1512 for accommodating the main wheel 152 and a second accommodating cavity 1513 for accommodating the first driving member 155. The bottom of the first accommodating cavity 1512 is provided with a gap 1514, which is about half of the circumference of the entire first accommodating cavity 1512. The circumferential surface of the main wheel 152 protrudes out of the gap 1514 of the shell 151, so that the circumferential surface of the main wheel 152 can contact the cleaning surface to generate friction force for driving the cleaning robot 100 to move.

[0054] According to an embodiment of the present disclosure, at least part of the circumferential surface of the main wheel 152 is in driving connection with the track 154, so that the track 154 can rotate synchronously when the main wheel 152 is driven to rotate. The driving connection between at least part of the circumferential surface of the main wheel 152 and the track 154 means that part of the circumferential surface of the main wheel 152 is covered by the track 154, and in the process of moving the cleaning robot 100, part of the circumferential surface of the main wheel 152 contacts the cleaning surface, and the track 154 on another part of the circumferential surface of the main wheel 152 contacts the cleaning surface; or the entire circumferential surface of the main wheel 152 is covered by the track 154, and in the process of moving the cleaning robot 100, the main wheel 152 does not contact the cleaning surface, and the track 154 on the circumferential surface of the main wheel 152 contacts the cleaning surface, and the cleaning robot 100 is driven to move by the friction between the track 154 and the cleaning surface. The driving connection between the entire circumferential surface of the main wheel 152 and the track 154 will be described below with reference to the description of the driving connection between part of the circumferential surface of the main wheel 152 and the track 154, and the difference is only that the coverage area of the track 154 on the circumferential surface of the main wheel 152 is different. Figure 8 Figure 9 The driving connection between at least part of the circumferential surface of the main wheel 152 and the track 154 will be described below with reference to the description of the driving connection between part of the circumferential surface of the main wheel 152 and the track 154, and the difference is only that the coverage area of the track 154 on the circumferential surface of the main wheel 152 is different.​

[0055] Figure 8 is a structural schematic view of the main wheel 152, Figure 9 is an assembly schematic view of the main wheel 152 and the auxiliary wheel 153. According to an embodiment of the present application, the main wheel 152 comprises a wheel body 1521 and a tire 1522, the peripheral surface of the wheel body 1521 is provided with a first assembly part 1523 and a second assembly part 1524 in parallel, the tire 1522 is assembled on the first assembly part 1523, and the tire 1522 can be rigidly connected with the first assembly part 1523, and the second assembly part 1524 is engaged with the track 154 for transmission. During the movement of the cleaning robot 100, the tire 1522 of the main wheel 152 is in contact with the cleaning surface, so as to facilitate the movement of the cleaning robot 100 on the flat cleaning surface, the second assembly part 1524 of the main wheel 152 is provided with meshing teeth, which are engaged with the meshing teeth on the inner surface of the track 154 for transmission, and when the main wheel 152 rotates, the track 154 is driven to rotate synchronously.

[0056] In combination with Figure 8 and Figure 9 , according to an embodiment of the present application, the second assembly part 1524 of the main wheel 152 is arranged on the inner side of the shell 151, and the second assembly part 1524 of the main wheel 152 protrudes from the inner side of the shell 151 along the thickness direction of the shell 151, so as to avoid the interference between the shell 151 and the track 154.

[0057] In combination with Figure 9 , according to an embodiment of the present application, the auxiliary wheel 153 is arranged in a spaced manner with the main wheel 152, so as to provide space for the arrangement of the track 154, and the peripheral surface of the auxiliary wheel 153 is also engaged with the track 154 for transmission, and when the main wheel 152 rotates, the auxiliary wheel 153 is driven to rotate synchronously through the transmission of the track 154.

[0058] Since the second assembly part 1524 of the main wheel 152 and the auxiliary wheel 153 are both engaged with the track 154 for transmission, the engagement force between the second assembly part 1524 of the main wheel 152, the auxiliary wheel 153 and the track 154 can be guaranteed, and the phenomenon that the track 154 falls off during the use of the cleaning robot 100 can be avoided, which has good practicability.

[0059] Figure 10 is an assembly schematic view of the filling piece 157. In combination with Figure 10In order to avoid the technical problem of impurities such as particles or hairs entering the inside of the track 154 and affecting the operation of the entire walking wheel assembly 150, the walking wheel assembly 150 provided by the present disclosure further comprises a filler 157 connected to the housing 151, the filler 157 being arranged in the track 154 and between the main wheel 152 and the auxiliary wheel 153. The filler 157 occupies the internal space of the track 154, avoids impurities from entering the inside of the track 154, and to some extent guarantees the normal operation of the walking wheel assembly 150 and improves the reliability of the operation of the cleaning robot 100.

[0060] In combination with Figure 10 According to an embodiment of the present application, the filler 157 is in clearance fit with the track 154, the main wheel 152 and the auxiliary wheel 153, that is, the filler 157 can fill and occupy the internal space of the track 154, and the track 154, the main wheel 152 and the auxiliary wheel 153 all have small clearances with the circumferential surface of the filler 157. During the walking process of the cleaning robot 100 on a flat cleaning surface, the track 154 does not contact the filler 157, reducing the friction between the track 154 and the filler 157, and in turn reducing the energy consumption. During the obstacle crossing process of the cleaning robot 100, the track 154 contacts the obstacle, and in turn the track 154 contacts the filler 157. The filler 157 can support the track 154, avoid excessive deformation of the track 154, and guarantee the obstacle crossing ability of the walking wheel assembly 150.

[0061] Since the filler 157 moves relative to the track 154, the main wheel 152 and the auxiliary wheel 153, in order to prevent fine particles from entering the gap between the filler 157, the track 154, the main wheel 152 and the auxiliary wheel 153, at least part of the filler 157 can have elasticity, for example, at least part of the circumferential surface of the filler 157 can be planted with hair or felt, so that the filler 157 elastically contacts at least one of the track 154, the main wheel 152 and the auxiliary wheel 153, thereby preventing fine particles from entering to some extent and guaranteeing the normal operation of the driving assembly. In addition, under the condition of long-term operation of the cleaning robot 100, if the track 154 and the filler 157 are worn, since at least part of the circumferential surface of the filler 157 has elasticity, the cooperation between the track 154 and the filler 157 can be maintained, the tension of the track 154 can be maintained, and the walking wheel assembly 150 can be normally operated.

[0062] It should be noted that the elastic contact between the insulator 157 and at least one of the track 154, main wheel 152 and auxiliary wheel 153 means that the insulator 157 is in elastic contact with all of the track 154, main wheel 152 and auxiliary wheel 153; or, the insulator 157 is in elastic contact with one or two of the track 154, main wheel 152 and auxiliary wheel 153, for example, the insulator 157 is only in elastic contact with the track 154, while it is in clearance fit with the main wheel 152 and auxiliary wheel 153.

[0063] Figure 11 This is an exploded view of the walking wheel assembly 150. Figure 12 for Figure 11 A structural schematic diagram of filler 157. (Combined with...) Figure 11 as well as Figure 12 The walking wheel assembly 150 also includes a mounting part 158, which can be integrally formed inside the housing 501. The mounting part 158 ​​is located between the main wheel 152 and the auxiliary wheel 153. The filler 157 can be connected to the mounting part 158 ​​by screws or other components. The inner surfaces of the filler 157, track 154, main wheel 152, and auxiliary wheel 153 are all located on the same plane or approximately on the same plane to avoid interfering with other components of the cleaning robot 100 and to improve space utilization.

[0064] Combination Figure 11 as well as Figure 12 The inner edge of the main wheel 152 is provided with an annular stop 1525, that is, the inner side of the main wheel 152 has a protrusion. The filler 157 is provided with a mounting hole 1571, and the filler 157 mounting hole 1571 is fitted onto the edge of the stop 1525 of the main wheel 152. The filler 157 is connected to a sleeve 1572, which is fitted onto the central shaft of the auxiliary wheel 153 to prevent debris from getting tangled on the central shaft of the auxiliary wheel 153.

[0065] Figure 13 The front view of the wheel assembly 150 with filler 157 removed. Combined with... Figure 13 According to one embodiment of this application, along the forward direction of the cleaning robot 100, an auxiliary wheel 153 is disposed on the front side of the main wheel 152. The axis of the main wheel 152 is the first axis S1, and the axis of the auxiliary wheel 153 is the second axis S2. The axis S2 of the auxiliary wheel 153 is not lower than the axis S1 of the main wheel 152, and the radius of the auxiliary wheel 153 is smaller than the radius of the main wheel 152. With this arrangement, the bottom of the track 154 is tilted forward. When the cleaning robot 100 crosses an obstacle, the track 154 has priority over the main wheel 152 in contacting the obstacle. Then, by utilizing the strong climbing ability of the track 154, the walking wheel assembly 150 can cross the obstacle.

[0066] Based on the aforementioned walking wheel assembly 150, this disclosure also provides a cleaning robot 100.Figure 14 This is a structural schematic diagram of a cleaning robot 100 with a walking wheel assembly 150. (Combined with...) Figure 14 The cleaning robot 100 includes a main body 110 and the aforementioned wheel assembly 150. The wheel assembly 150 can improve the obstacle-crossing ability of the cleaning robot 100.

[0067] Figure 15 for Figure 14 The diagram shows the obstacle-crossing capability of the cleaning robot 100. (Combined with...) Figure 14 as well as Figure 15 As described above, the cleaning robot 100 also includes a driven wheel assembly 160, which is mounted on the bottom of the main body 110 and located in front of the two walking wheel assemblies 150. When the cleaning robot 100 crosses an obstacle, since the driven wheel assembly 160 is located in front of the walking wheel assembly 150, the driven wheel assembly 160 will preferentially contact the obstacle during the obstacle crossing process. In order for the cleaning robot 100 to successfully overcome obstacles, the driven wheel assembly 160 can be controlled to rise and fall relative to the main body 110 to lift the main body 110, thereby allowing the driven wheel assembly 160 to pass over the obstacle first. When the walking wheel assembly 150 reaches the obstacle, since the walking wheel assembly 150 is a composite drive structure of 1523 and track 154, the track 154 will contact the obstacle first and play its role, enabling the walking wheel assembly 150 to climb the obstacle which is much larger than the radius of the wheel 1523, thereby enabling the entire walking wheel assembly 150 to cross the obstacle, so that the entire cleaning robot 100 can cross the obstacle.

[0068] Figure 16 This is an assembly diagram of the driven wheel assembly 160. (Combined with...) Figure 16 The cleaning robot 100 also includes a second drive unit 161, a worm gear mechanism 162, and a ball screw mechanism 163. The second drive unit 161 is connected to the main body 110 and is a motor. The second drive unit 161 has a rotatable output shaft. The worm of the worm gear mechanism 162 is connected to the output shaft of the second drive unit 161, and the worm of the worm gear mechanism 162 is connected to the input shaft of the ball screw mechanism 163. The output shaft of the ball screw mechanism 163 is connected to the driven wheel assembly 160. Since the auxiliary wheel of the driven wheel assembly 160 is always in contact with the cleaning surface, when the second drive unit 161 receives the command to start, it transmits power to the ball screw mechanism 163 through the worm gear mechanism. The ball screw mechanism 163 starts to precisely drive the driven wheel assembly 160 to rise and fall, changing the height difference between the driven wheel assembly 160 and the front side of the main body 110, thereby achieving the purpose of increasing the elevation angle of the main body 110 of the cleaning robot 100 and increasing the ground clearance of the front side of the main body 110 of the cleaning robot 100.

[0069] The second driving member 161 can be a steering engine, which can receive instructions from a controller and be precisely controlled in the rotation angle of the output portion thereof. For example, when the driving angle of the second driving member 161 is 0°, the ground clearance of the front side of the main body 110 of the cleaning robot 100 is the smallest, and the cleaning robot 100 is in a walking posture; when the driving angle of the second driving member 161 is 90°, the ground clearance of the front side of the main body 110 of the cleaning robot 100 is the largest, and the cleaning robot 100 is in a maximum obstacle-crossing posture. In addition, by controlling the rotation angle of the output portion of the second driving member 161, the cleaning robot 100 can rush towards the obstacle in different directions, adapt to the crossing of obstacles of different heights, and have good flexibility.

[0070] It should be noted that, in the process of the cleaning robot 100 advancing to the target area, there can be behaviors such as turning, retreating, and advancing. The advancing direction of the cleaning robot 100 of the present disclosure refers to the direction generated when the cleaning robot 100 advances to the target area.

[0071] Based on the same design idea, the present disclosure also provides a cleaning system, which comprises a base station and the cleaning robot 100 described above used in cooperation. The obstacle-crossing capability of the cleaning robot 100 of the cleaning system can be improved, and the user experience can be improved.

[0072] In the present disclosure, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature therebetween. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0073] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present disclosure and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0074] In this disclosure, unless specifically defined otherwise, the terms "connection", "fixed", and the like should be construed broadly and do not necessarily mean a direct connection, but can also mean an indirect connection or an integrated one; can be a mechanical connection, or an electrical connection; can be a direct connection, or an indirect connection through an intermediate medium; can be an internal connection of two elements, or an interaction relationship between two elements. For those of ordinary skill in the art, the specific meaning of the above terms in this disclosure can be understood according to the specific circumstances.

[0075] In addition, in this disclosure, the description such as "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features, or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of this disclosure, the meaning of "multiple" is two or more, unless specifically and specifically limited.

[0076] Although the embodiments of the present disclosure have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and purposes of the present disclosure, and the scope of the present disclosure is defined by the claims and their equivalents.

Claims

1. A cleaning robot, characterized in that, The cleaning robot comprises: a main body; and a walking wheel assembly connected to the main body, the walking wheel assembly guiding movement of the main body, the walking wheel assembly comprising: a housing connected to the main body; a main wheel rotatably connected to the housing to drive the cleaning robot to move; an auxiliary wheel rotatably connected to the housing, the auxiliary wheel and the main wheel being arranged in a spaced apart manner; a track wrapped around at least part of the main wheel and at least part of the auxiliary wheel; a filler arranged in the track, the filler being located between the main wheel and the auxiliary wheel, the filler elastically contacting at least one of the track, the main wheel and the auxiliary wheel.

2. The cleaning robot according to claim 1, wherein, At least part of the main wheel and the track are drivingly connected.

3. The cleaning robot according to claim 2, wherein, A circumferential surface of the main wheel is provided with a first assembly portion and a second assembly portion in a side-by-side manner, the first assembly portion being connected to a tire, and the second assembly portion being engagedly connected to the track.

4. The cleaning robot according to claim 1, wherein, The filler is in clearance fit with the track, the main wheel and the auxiliary wheel.

5. The cleaning robot according to any one of claims 1-4, wherein, In a forward direction of the cleaning robot, the auxiliary wheel is arranged at a front side of the main wheel, an axis of the auxiliary wheel is not lower than an axis of the main wheel, and a radius of the auxiliary wheel is smaller than a radius of the main wheel.

6. The cleaning robot according to any one of claims 1-4, wherein, Further comprising a driving member connected to the housing, the driving member being connected to one of the main wheel and the auxiliary wheel.

7. The cleaning robot according to any one of claims 1-4, wherein, Further comprising: a driven wheel assembly connected to the main body; wherein, In a forward direction of the cleaning robot, the auxiliary wheel is located at a front side of the walking wheel assembly.

8. The cleaning robot according to claim 7, wherein, The driven wheel assembly is lifted relative to the main body to lift a front side of the main body.

9. A cleaning system characterized by, The cleaning robot is used in cooperation with a base station.

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