Cleaning robot and cleaning system

Abstract

The utility model belongs to the technical field of motor 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 the walking wheel assembly guides the main body to move; the walking wheel assembly comprises a main wheel, a gland and a connecting assembly, the main wheel is connected with the main body, the connecting assembly is connected with the gland, when the cleaning robot is switched from the first state to the second state, pressure is applied to the walking wheel assembly through the gland, and the gland lifts the main body through the connecting assembly. The obstacle crossing ability of the cleaning robot can be improved, so that the user experience is improved.

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] With the development of technology and the acceleration of the pace of life, using cleaning equipment such as a cleaning robot to clean the environment can not only improve the cleaning efficiency, but also achieve the purpose of freeing hands. Therefore, the cleaning equipment on the market is favored by people at present.

[0003] The cleaning robot is used to clean the area to be cleaned by automatic movement. There may be obstacles in the area to be cleaned. The cleaning robot can change the cleaning route and move around the obstacles to avoid collision with the obstacles. In some cases, the obstacle may be a threshold separating two spaces. The cleaning robot needs to climb over the obstacle to clean the area separated by the obstacle. Or the obstacle may be a large area carpet. The cleaning robot needs to climb over the obstacle to clean the upper surface of the obstacle. Therefore, the cleaning robot needs to have a certain obstacle climbing ability.

[0004] In the related art, the obstacle climbing function is mainly solved by software strategy, that is, by adjusting the angle and speed of the cleaning equipment approaching the obstacle. The above method is subject to the conditions such as the ground clearance of the cleaning equipment, which limits the cleaning equipment from climbing over high obstacles, and limits the cleaning area of the cleaning robot. UTILITY MODEL CONTENT

[0005] The present disclosure aims to at least solve the problem that the cleaning robot cannot climb over high obstacles to a certain extent. To this end, the present disclosure provides a cleaning robot and a cleaning system.

[0006] In a first aspect of the present disclosure, a cleaning robot is provided, which includes a main body and a walking wheel assembly. The walking wheel assembly is connected to the main body to guide the movement of the main body. The walking wheel assembly includes a main wheel, a gland, and a connecting assembly connected to the gland. When the main body is switched from the first state to the second state, the cleaning robot applies pressure to the walking wheel assembly through the gland, and the gland lifts the main body through the connecting assembly.

[0007] In a second aspect of the present disclosure, a cleaning system is provided, which includes a cleaning base station and the cleaning robot provided in the first aspect.

[0008] The cleaning robot and the cleaning system provided by the present disclosure can apply pressure to the walking wheel assembly by the gland when the main body is switched from the first state to the second state, can lift the main body by the connecting assembly, can lift the front side of the main body, can increase the distance between the main body and the operation surface, can make the distance between the front side of the main body and the operation surface greater than the height of the obstacle, and can make the front side of the main body above the obstacle, so that the main body can climb to the upper surface of the obstacle or cross the obstacle, so that the cleaning robot can clean the area separated by the obstacle, can increase the activity area of the cleaning robot, and can improve the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative labor.

[0010] Figure 1 The structure schematic diagram of the walking posture of the cleaning robot provided by the embodiment of the present disclosure is shown.

[0011] Figure 2 The structure schematic diagram of the obstacle-crossing posture of the cleaning robot provided by the embodiment of the present disclosure is shown.

[0012] Figure 3 The structure schematic diagram of the inside of the cleaning robot provided by the embodiment of the present disclosure is shown.

[0013] Figure 4 The structure schematic diagram of the connecting assembly provided by the embodiment of the present disclosure is shown. Figure 3 The sectional view of A-A in the connecting assembly provided by the embodiment of the present disclosure is shown.

[0014] Figure 5 The structure schematic diagram of the walking wheel assembly provided by the present disclosure is shown.

[0015] Figure 6 The exploded view of the first perspective of the walking wheel assembly of the present disclosure is shown.

[0016] Figure 7 The exploded view of the second perspective of the walking wheel assembly of the present disclosure is shown.

[0017] Figure 8 The structure schematic diagram of the connecting assembly provided by the embodiment of the present disclosure is shown. Figure 5 The local enlarged view of B in the connecting assembly provided by the embodiment of the present disclosure is shown.

[0018] Figure 9 The schematic diagram of the clutch assembly is shown.

[0019] Figure 10 The local enlarged view of C in the clutch assembly provided by the embodiment of the present disclosure is shown. Figure 5 The local enlarged view of C in the clutch assembly provided by the embodiment of the present disclosure is shown.

[0020] Figure 11Structure schematic view of the gland for the present disclosure.

[0021] Figure 12 Structure schematic view of the lifting stage of the walking wheel assembly.

[0022] Figure 13 Structure schematic view of the obstacle crossing stage of the walking wheel assembly.

[0023] Figure 14 Structure schematic view of the reset stage of the walking wheel assembly.

[0024] Reference signs: 10-cleaning robot, 100-walking wheel assembly, 110-connection assembly, 112-driving motor, 113-motor base, 114-transmission part, 116-tensioning shaft;

[0025] 120-main wheel;

[0026] 130-gland, 131-rotary connection part, 132-stop surface, 134-second sliding groove, 135-clearance groove, 136-second accommodating part;

[0027] 141-first flexible connecting piece, 142-steering gear, 143-second flexible connecting piece, 152-first elastic piece, 154-second elastic piece;

[0028] 160-clutch assembly, 162-frame piece, 162a-first sliding groove, 164-sliding part, 165-elastic piece;

[0029] 170-frame, 172-first accommodating part;

[0030] 210-main body, 220-supporting wheel, 230-guiding wheel. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be described clearly and completely below 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 the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0032] In the utility model, unless another definite provision and limitation, the terms "connect", "fix" and the like should be understood broadly, for example, "fix" can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through intermediate medium, can be the communication or mutual action relation of two elements, unless another definite limitation.For ordinary skilled person in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.

[0033] In addition, in the utility model, the description such as "first", "second" 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 limited by "first", "second" can explicitly or implicitly include at least one of the features.In addition, the technical solutions of various embodiments can be combined with each other, but must be based on the realization of ordinary skilled person in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the utility model.

[0034] With the development of science and technology and the acceleration of life rhythm, using cleaning robots and other cleaning equipment to clean the environment can not only improve the cleaning efficiency, but also achieve the purpose of freeing hands.Therefore, the cleaning equipment on the market is favored by people.

[0035] The cleaning robot is cleaned by moving automatically in the cleaning area, and there may be obstacles in the cleaning area, and the cleaning robot can change the cleaning route and move around the obstacles to avoid collision with the obstacles.In some cases, the obstacle may be a threshold separating two spaces, and the cleaning robot needs to climb over the obstacle to clean the area separated by the obstacle, or the obstacle may be a large area carpet, and the cleaning robot needs to climb to the top of the obstacle to clean the upper surface of the obstacle, so the cleaning robot needs to have certain obstacle crossing ability.

[0036] In the related art, it is mainly solved by software strategy, and the obstacle crossing function is realized by adjusting the angle and speed of the cleaning equipment approaching the obstacle.The above mode is subject to the conditions such as the ground clearance of the cleaning equipment, which leads to the cleaning equipment unable to cross higher steps, and the cleaning area of the cleaning robot is limited.The cleaning robot and cleaning system provided by the embodiment of the present disclosure can improve the above problems, and the cleaning robot in the cleaning robot and cleaning system provided by the embodiment of the present disclosure can climb to the upper surface of the obstacle or cross the obstacle, so that the cleaning robot can clean the area separated by the obstacle, can increase the activity area of the cleaning robot, and improve the user experience.

[0037] Several embodiments of this disclosure will now be described with reference to the accompanying drawings. It should be noted that the drawings all use hollow arrows to indicate the direction of travel of the cleaning robot 10.

[0038] Figure 1 This is a schematic diagram of the cleaning robot 10 described in this disclosure in its first state. Figure 1 As shown, the cleaning robot 10 can typically move on the operating surface and clean it while moving. This disclosure defines the first state as the operating surface translating (forward, backward, turning), where translation refers to the cleaning robot 10 moving at a height less than a preset value, for example, less than 3 centimeters. The operating surface can be a hard cement surface, tile surface, etc., or a flexible rubber surface, carpet surface, etc. This disclosure does not limit the material or hardness of the operating surface.

[0039] like Figure 1 As shown, the cleaning robot 10 includes a main body 210, a wheel assembly 100, support wheels 220, and guide wheels 230. The main body 210 is equipped with the wheel assembly 100, guide wheels 230, and support wheels 220. Along the traveling direction of the cleaning robot 10, the side of the main body 210 with the guide wheels 230 is the front side of the main body 210, and the side with the support wheels 220 is the rear side of the main body 210. The guide wheels 230 are mounted on the front side of the wheel assembly 100, and the support wheels 220 are mounted on the rear side of the wheel assembly 100.

[0040] To enable the main body 210 to switch from the first state to the second state, the main body 210 needs to rotate around the central axis of the main wheel 120, causing the front side of the main body 210 to rise and the rear side to fall. The second state refers to the obstacle-crossing posture of the cleaning robot 10 (including the main body 210). The front and rear sides of the main body 210 are defined with respect to the direction in which the main body 210 moves in a straight line. The side that is further forward in the direction of movement of the main body 210 is the front side of the main body 210, and the side that is further backward in the direction of movement of the main body 210 is the rear side of the main body 210.

[0041] Figure 2 This is a schematic diagram of the cleaning robot 10 provided in this disclosure in its second state. Figure 2 As shown, the front of the main body 210 rises, pushing the guide wheel 230 to the top of the obstacle. The guide wheel 230 contacts the upper surface of the obstacle to support the main body 210. The rear of the main body 210 descends, and the support wheel 220 abuts against the operating surface, supporting the rear of the main body 210 and preventing it from contacting the operating surface and damaging the main body 210, while ensuring that the main body 210 can continue to move.

[0042] Combination Figure 1 and Figure 2To enable the main body 210 to switch from the first state to the second state, the walking wheel assembly 100 drives the main body 210 to lift the front side of the main body 210 around the central axis of the main wheel 120, and pushes the front side of the main body 210 to the top of the obstacle, so that the main wheel of the walking wheel assembly 100 can press against the obstacle. In the second state, the cleaning robot 10 can climb the obstacle, clean the top surface of the obstacle (if necessary), and detach from the obstacle by the friction of the main wheel of the walking wheel assembly 100 against the obstacle and the driving force forward and / or upward. After detaching from the obstacle, the cleaning robot 10 can clean the area separated by the obstacle.

[0043] Figure 3 The internal structure of the cleaning robot 10 provided by the present disclosure is shown in the following figure: Figure 4 For Figure 3 The cleaning robot 10 shown in the A-A cross-sectional view. As Figure 3 And Figure 4 As shown in the figure, the walking wheel assembly 100 is symmetrically installed on the left and right sides of the main body 210 in the forward direction, wherein the walking wheel assembly 100 can guide the movement of the main body 210 so that the main body 210 can move to different positions of the operation surface, thereby cleaning different areas of the operation surface.

[0044] As described above, the walking wheel assembly 100 can be two, and the two walking wheel assemblies 100 are symmetrically arranged on the left and right sides of the main body 210 in the forward direction with the central axis L of the main body 210 as the reference, and the two walking wheel assemblies 100 cooperate to drive the forward and backward movement, turning or obstacle climbing of the main body 210. The present disclosure takes one of the walking wheel assemblies 100 (for example, the walking wheel assembly 100 on the right side in the forward direction) as an example to describe the structure and action mode of the walking wheel assembly 100, and the description of this group of walking wheel assemblies 100 is also suitable for the other group of walking wheel assemblies 100 unless otherwise stated. The specific structure of the walking wheel assembly 100 on the right side in the forward direction and how the walking wheel assembly 100 drives the movement and obstacle climbing of the main body 210 will be described below in combination with Figures 5 to 13 The specific structure of the walking wheel assembly 100 on the right side in the forward direction and how the walking wheel assembly 100 drives the movement and obstacle climbing of the main body 210 will be described below in combination with

[0045] Figure 5 The structure of the walking wheel assembly 100 provided by the present disclosure is shown in the following figure. As Figure 5As shown, the walking wheel assembly 100 comprises a connecting assembly 110, a main wheel 120, a pressure cover 130, a first elastic member 152 and a second elastic member 152. In one aspect, the connecting assembly 110 connects the main body 210 and the main wheel 120, and the connecting assembly 110 can drive the main wheel 120 to rotate, so that the main body 210 can move on the operation surface. In another aspect, the connecting assembly 110 connects the pressure cover 130 through a connecting shaft, and when the pressure cover 130 presses the main wheel 120, the main body 210 connected or abutted with the connecting assembly 110 can be lifted by the connecting assembly 110, at this time, because the connecting assembly 110 is distributed on the front side of the main body 210, the front side of the main body 210 is lifted and the rear side is grounded.

[0046] Specifically, in the process that the cleaning robot 10 cleans the operation surface, the connecting assembly 110 drives the main wheel 120 to rotate. In this case, the main wheel 120 is in motion relative to the connecting assembly 110, that is, the connecting assembly 110 and the main body 210 can be regarded as a whole connected with each other, the main body 210 and the connecting assembly 110 are relatively static, and the main body 210 and the main wheel 120 are relatively rotating, so the connecting assembly 110 and the main wheel 120 are relatively rotating, and the states of the two are different. When the pressure cover 130 is subjected to an external force, the pressure cover 130 fixes the main wheel 120 and the connecting assembly 110, so that the main wheel 120 and the connecting assembly 110 become a whole, and the states of the main wheel 120 and the connecting assembly 110 are synchronized, in this case, the main wheel 120 is static relative to the connecting assembly 110.

[0047] Because the main wheel 120 and the connecting assembly 110 can be regarded as a whole, when the pressure cover 130 is subjected to an external force, the whole formed by the connecting assembly 110 and the main wheel 120 can rotate around the central axis of the main wheel 120, that is, the connecting assembly 110 rotates around the central axis of the main wheel 120 as the rotation center, and because the connecting assembly 110 connects the main body 210, the main body 210 can also rotate around the central axis of the main wheel 120, lift the front side of itself, increase the maximum vertical distance between the front side of the main body 210 and the operation surface, and make the maximum vertical distance between the front side of the main body 210 and the operation surface greater than the height of the obstacle. Further, the cleaning robot 10 pushes the front side of the main body 210 against the top surface of the obstacle, so that the main body 210 can climb to the upper surface of the obstacle or cross the obstacle, the cleaning robot 10 can clean the area separated by the obstacle, increase the activity area of the cleaning robot 10, and improve the user experience.

[0048] It is easy to understand that when the pressure cover 130 exerts pressure on the main wheel 120, the connecting assembly 110 can still drive the main wheel 120 to rotate, so that the main wheel 120 can move on the operation surface.

[0049] The main body 210 is at a distance from the operation surface and the main wheel 120 is in contact with the operation surface, so that the weight of the main body 210 can be borne by the main wheel 120. That is, the main wheel 120 can bear the weight of the entire main body 210, the pressure cover 130 exerts a force on the entire walking wheel assembly 100, so that the connecting assembly 110 can rotate around the central axis of the main wheel 120, and under the action of the weight of the entire machine, the front side of the main body 210 is lifted and the rear side of the main body 210 is pressed down, thereby preparing for the attitude of crossing the obstacle, improving the stability of the main body 210 in this attitude, and ensuring the reliability of crossing the obstacle.

[0050] In addition, since the main wheel 120 is the rotating structure of the entire cleaning robot 10, when the main body 110 switches from the first state to the second state, the main wheel 120 rotates to lift the front side of the main body 210, and the main wheel 120 also guides the movement of the cleaning robot 10, without the need to additionally set a structure for guiding the rotation of the cleaning robot 10. In the case of ensuring the obstacle-crossing function of the cleaning robot 10, the number of parts of the cleaning robot 10 can be reduced, and the structure of the entire machine is more compact.

[0051] Under the action of the pressure cover 130, the connecting assembly 110 and the main wheel 120 become a whole (the connecting assembly 110 and the main wheel 120 are relatively stationary), and the connecting assembly 110 and the main wheel 120 rotate as a whole, and the connecting assembly 110 and the main wheel 120 are relatively stationary, which can reduce the power loss caused by rotation between the connecting assembly 110 and the main wheel 120 during the lifting of the connecting assembly 110, and can reduce the difficulty of lifting the main body 210.

[0052] In an embodiment, the main wheel 120 is arranged at the middle part of the main body 210, and the main body 210 is lifted at the front side and abuts against the operation surface at the rear side, under the condition of ensuring that the cleaning robot 10 does not fall over, the crossable height of the obstacle is expanded, and the obstacle-crossing ability of the cleaning robot 10 is improved.

[0053] It should be noted that the pressure cover 130 exerts pressure on the entire walking wheel assembly 100, and the action point of the pressure cover 130 can be at the rear side of the central axis of the main wheel 120 (referred to as the rear side of the main wheel 120), which exerts a downward force on the rear side of the main wheel 120, so that the front side of the main body 210 can be lifted, or exerts an upward force on the front side of the main wheel 120, so that the front side of the main body 210 can also be lifted.

[0054] The connection assembly 110 is arranged at a position in front of the main body 210, that is, the connection assembly 110 is arranged in front of the main wheel 120, and when the pressure cover 130 is subjected to an action, the connection assembly 110 is arranged at the front side of the connection assembly 110, the front side of the main body 210 can be lifted, so that the vertical distance between the front side of the main body 210 and the operation surface is greater than the vertical distance between the top surface of the obstacle and the operation surface, so that the front side of the main body 210 can be located above the obstacle, and then the main body 210 can cross the obstacle.

[0055] Figure 6 The first perspective view of the walking wheel assembly 100 of the present disclosure is shown in FIG. 1A, Figure 7 The second perspective view of the walking wheel assembly 100 of the present disclosure is shown in FIG. 1B, Figure 8 The first perspective view of the walking wheel assembly 100 of the present disclosure is shown in FIG. 1A, Figure 5 The first perspective view of the walking wheel assembly 100 of the present disclosure is shown in FIG. 1A, Figure 6 、 Figure 7 、 Figure 8 As shown in FIG. 1C, in some embodiments, the connection assembly 110 includes a driving motor 112, a motor base 113, and a transmission part 114. The driving motor 112 is mounted on the motor base 113, and the pressure cover 130 is rotationally connected to the motor base 113. The transmission part 114 is connected to the driving motor 112, and the transmission part 114 is drivingly connected to the main wheel 120. The motor base 113 is fixedly connected to the frame 170, and the frame 170 covers part of the main wheel 120. The pressure cover 130 applies pressure to the walking wheel assembly 100 through the frame 170.

[0056] The frame 170 is provided with a first accommodating part 172 facing the main wheel 120, and part of the main wheel 120 is arranged in the first accommodating part 172. The frame 170 maintains a gap between the frame 170 and the main wheel 120 through the first accommodating part 172. The frame 170 and the main wheel 120 have a gap therebetween, so that the main wheel 120 does not contact the frame 170 during guiding the main body 210 to move on the operation surface, reducing the interference of the frame 170 with the rotation of the main wheel 120.

[0057] The pressure cover 130 is provided with a second accommodating part 136 facing the first accommodating part 172, and part of the main wheel 120 is arranged in the second accommodating part 136. The pressure cover 130 maintains a gap between the pressure cover 130 and the main wheel 120 through the second accommodating part 136, and at least part of the frame 170 can also be arranged in the second accommodating part 136. The pressure cover 130 and the main wheel 120 have a gap therebetween, so that the main wheel 120 does not contact the pressure cover 130 during guiding the main body 210 to move on the operation surface, reducing the interference of the pressure cover 130 with the rotation of the main wheel 120.

[0058] When the pressure cover 130 is fixedly connected to the motor base 113 and the frame 170, the second driving assembly 140 drives the main wheel 120 to rotate, and the motor base 113 lifts the main body 210.

[0059] Since the driving motor 112 is installed on the motor base 113, the frame 170 is fixedly connected to the motor base 113, and the frame 170 is arranged on the part of the main wheel 120. When the gland 130 is fixedly connected to the motor base 113 and the frame 170, the entire connecting assembly 110 and the main wheel 120 are integrated as a whole. If the gland 130 is not fixedly connected to the motor base 113 and the frame 170, the connecting assembly 110 and the main wheel 120 can move relative to each other, that is, the main wheel 120 can rotate relative to the driving motor 112.

[0060] In the direction of travel of the cleaning robot 10, the motor base 113 is arranged on the front side of the main wheel 120 and has a certain distance from the main wheel 120. The motor base 113 is connected to the main body 210, that is, the connection point of the motor base 113 and the main body 210 also has a certain distance from the main wheel 120. When the gland 130 is fixedly connected to the main wheel 120 and the motor base 113, the motor base 113 is fixed to the main wheel 120, and the connection point of the motor base 113 and the main body 210 rotates around the contact part of the main wheel 120 and the operating surface as the rotation center, so that the main body 210 rotates around the main wheel 120 as the rotation center, and the front side of the main body 210 is lifted, so that the cleaning robot 10 can cross the obstacle and improve the obstacle-crossing ability of the cleaning robot 10.

[0061] The transmission part 114 can be a plurality of transmission gears, and the driving of the main wheel 120 is realized by the mutual meshing of the plurality of transmission gears. The transmission ratio between the connecting assembly 110 and the main wheel 120 can also be adjusted by the transmission gears, and the rotation speed of the main wheel 120 is controlled.

[0062] In some embodiments, the second driving assembly 140 further comprises a first elastic member 152, and the first elastic member 152 is connected to the gland 130 and the main body 210, respectively. When the cleaning robot 100 switches from the second state to the first state, the first elastic member 152 cooperates with the main body 210 to reset.

[0063] The first elastic member 152 can be arranged in a direction perpendicular to the direction of travel of the cleaning robot 10. The first elastic member 152 is connected to the main body 210 and the gland 130. When the rudder 142 lifts the main body 210, the main wheel 120 is always in contact with the operating surface. Compared with the main wheel 120, the main body 210 rises, and compared with the main body 210, the main wheel 120 descends. The distance between the main body 210 and the main wheel 120 increases, and the first elastic member 152 is stretched. If the second driving assembly 140 stops driving, under the action of the restoring force of the first elastic member 152, the main wheel 120 moves towards the main body 210 (that is, the main body 210 moves towards the main wheel), so that the main body 210 is reset.

[0064] In some embodiments, the second driving assembly 140 further comprises a second elastic member 154, the second elastic member 154 is connected to the connecting assembly 110 and the pressure cover 130 respectively, and the second elastic member 154 resets the connecting assembly 110 when the cleaning robot 100 switches from the second state to the first state.

[0065] Since the motor seat 113 is arranged in front along the traveling direction of the cleaning robot 10, the second elastic member 154 is stretched along the front-rear direction of the main body 210 during the lifting of the main body 210, and the second elastic member 154 can provide a forward resetting force for the main wheel 120 during the obstacle crossing, so that the contact part of the main wheel 120 with the obstacle has a certain positive pressure, the friction between the main wheel 120 and the obstacle can be increased, and the stability of the cleaning robot 10 in crossing the obstacle can be improved.

[0066] Specifically, the second elastic member 154 connects the pressure cover 130 and the motor seat 113, when the second driving assembly 140 lifts the main body 210, the main wheel 120 is always in contact with the operation surface, the motor seat 113 rises compared with the main wheel 120, then the main wheel 120 descends compared with the motor seat 113, the distance between the motor seat 113 and the main wheel 120 increases, and the first elastic member 152 is stretched. If the steering engine 142 stops driving, the transmission wheel will move in the direction close to the main body 210 under the action of the restoring force of the first elastic member 152, so that the main wheel 120 resets.

[0067] Among them, the second elastic member 154 and the first elastic member 152 can be springs, the second elastic member 154 and the first elastic member 152 are arranged in different directions, the second elastic member 154 is arranged along the traveling direction of the cleaning robot 10, that is, the second elastic member 154 and the first elastic member 152 are substantially perpendicular, the second elastic member 154 and the first elastic member 152 can provide two different directions of restoring force to the main wheel 120, and thus the stability of the main wheel 120 in the resetting process can be improved.

[0068] The walking wheel assembly 100 further comprises a first flexible connecting member 141, one end of the first flexible connecting member 141 is connected to the connecting assembly 110, and the other end of the first flexible connecting member 141 is connected to the pressure cover 130, when the main body 210 switches from the first state to the second state, the first flexible connecting member 141 tightens, and the pressure cover 130 lifts the front side of the main body 210 through the first flexible connecting member 141.

[0069] The first flexible connecting member 141 can be a steel wire rope, if the main body needs to switch from the first state to the second state, the first flexible connecting member 141 tightens, so that the pressure cover 130 lifts the front side of the main body 210 through the first flexible connecting member 141.

[0070] In some embodiments, the connecting assembly 110 (motor base 113) is provided with a tensioning shaft 116, and the second flexible connecting member 143 is wound around the tensioning shaft 116, one end of the second flexible connecting member 143 is connected to the steering engine 142, and part of the second flexible connecting member 143 is wound around the tensioning shaft 116. The second flexible connecting member 143 is wound around the outer surface of the tensioning shaft 116, and the winding angle of the second flexible connecting member 143 is less than 360 degrees, that is, the number of turns of the first flexible connecting member 141 around the tensioning shaft 116 is less than one turn. This arrangement can reduce the friction between the first flexible connecting member 141 and the tensioning shaft 116, reduce the resistance of the steering engine 142 driving the first flexible connecting member 141, reduce the power loss of the steering engine 142, and reduce the cost.

[0071] It is easy to understand that, since the motor base 113 is connected to the main body 210, the first flexible connecting member 141 drives the motor base 113 to rotate, that is, drives the main body 210 to rotate. The motor base 113 rotates around the main wheel 120 as the center, and in the direction of the main wheel 120 towards the motor base 113 (the distance between the main wheel 120 and the motor base 113 is the moment arm of the rotation of the motor base 113), the closer the force point of the first flexible connecting member 141 to the motor base 113, the larger the moment arm, and the driving force can be smaller. In some embodiments, the force point of the first flexible connecting member 141 can be arranged at the motor base 113, which can reduce the resistance of lifting the main body 210.

[0072] Since the connecting assembly 110 and the frame 170 need to be fixed only when the main body 210 needs to overcome obstacles, and the pressure exerted on the gland 130 by the first flexible connecting member 141, the main body 210 is lifted by the connecting assembly 110. The connecting assembly 110 and the frame 170 are separated in the normal state. In order to fix the connecting assembly 110 and the main wheel 120 when overcoming obstacles, a clutch assembly 160 can be provided, that is, in some embodiments, the walking wheel assembly 100 further comprises a clutch assembly 160, the clutch assembly 160 can fix the frame 170 and the gland 130, and the second flexible connecting member 143 is connected to the clutch assembly 160.

[0073] The clutch assembly 160 can fix the gland 130 and the frame 170, or separate the gland 130 and the frame 170. When the cleaning robot 10 needs to overcome obstacles, the clutch assembly 160 fixes the gland 130 and the frame 170, and under the action of the second driving assembly 140, the main wheel 120 and the connecting assembly 110 do not move relatively, and the main wheel 120 and the connecting assembly 110 become a whole to lift the front side of the main body 210. After the obstacle is overcome, the clutch structure 160 separates the gland 130 and the frame 170, so that the connecting assembly 110 and the main wheel 120 can move relatively, so that the connecting assembly 110 can drive the main wheel 120 to rotate, and so that the main body 210 can walk on the operation surface to clean different areas of the operation surface.

[0074] The second flexible connecting member 143 is connected to the clutch assembly 160, and the clutch assembly 160 can be driven to move by the second flexible connecting member 142, and the gland 130 can lift the front side of the main body 110 by the second flexible connecting member 143. The second flexible connecting member 143 drives the clutch assembly 160 and the lifting connecting assembly 110, and does not need to set other power elements to drive the clutch assembly to move, which can reduce the number of parts, make the whole structure of the cleaning robot 10 more compact, and reduce the cost of the walking wheel assembly 100.

[0075] That is, in an embodiment of the present disclosure, the same flexible member is connected to the clutch assembly 160, and in addition to the function of driving the main wheel 120 and the connecting assembly 110 to rotate, the clutch assembly 160 can also be driven to move, so that the gland 130 is fixed or separated from the frame 170.

[0076] The way in which the second flexible connecting member 143 lifts the main body 110 is the same as the way in which the first flexible connecting member 141 lifts the main body 110, and the specific description of the first flexible connecting member 141 lifting the main body 110 can be referred to, and will not be repeated here.

[0077] The second flexible connecting member 143 needs to be connected to the clutch assembly 160, and the second flexible connecting member 143 needs to drive the connecting assembly 110 and the main wheel 120 to rotate, and needs to drive the clutch assembly 160 to move. That is, the second flexible connecting member 143 needs to drive the motor seat 113 and the clutch assembly 160. In order to make the second flexible connecting member 143 not only drive the clutch assembly 160 to move, but also drive the whole connecting assembly 110 and the main wheel 120 to move, the second flexible connecting member 143 is arranged around the tensioning shaft 116, and the second flexible connecting member 143 is connected to the clutch assembly 160.

[0078] Specifically, the second flexible connecting member 143 is a flexible connecting structure (for example, a steel wire rope), one end of the second flexible connecting member 143 is connected to the steering engine 142 (the steering engine 142 tightens or loosens the second flexible connecting member 143), and the other end is connected to the clutch assembly 160. The part of the second flexible connecting member 143 between the steering engine 142 and the clutch assembly 160 is also arranged around the tensioning shaft 116, that is, the second flexible connecting member 143 is arranged on the path from the steering engine 142 to the clutch assembly 160, and the structure connected by the second flexible connecting member 143 is in order: the steering engine 142, the tensioning shaft 116, and the clutch assembly 160.

[0079] In some embodiments, the second flexible connecting member 143 is wound around the outer surface of the tensioning shaft 116, and the winding angle of the second flexible connecting member 143 is less than 360 degrees, i.e. the number of turns of the second flexible connecting member 143 around the tensioning shaft 116 is less than one turn. This arrangement can reduce the friction between the second flexible connecting member 143 and the tensioning shaft 116, reduce the resistance of the steering engine 142 to drive the second flexible connecting member 143, reduce the power loss of the steering engine 142, and reduce the cost.

[0080] The steering engine 142 and the clutch assembly 160 are arranged on the rear side of the tensioning shaft 116 along the traveling direction of the cleaning robot 10. When the steering engine 142 winds up the second flexible connecting member 143, the second flexible connecting member 143 drives the clutch assembly 160, and the gland 130 fixes the main wheel 120 and the connecting assembly 110. After the main wheel 120 and the connecting assembly 110 are fixed as a whole, the steering engine 142 continues to wind up the second flexible connecting member 143, the second flexible connecting member 143 lifts the tensioning shaft 116, and the motor base 113 rotates upward around the main wheel 120 as the center. Since the motor base 113 is connected to the main body 210, the main body 210 also rotates upward, so that the front side of the main body 210 is lifted, the distance between the front side of the main body 210 and the operation surface is increased, and the main body 210 can climb over higher obstacles.

[0081] Figure 9 FIG. 16 is a schematic view of the clutch assembly 160, Figure 10 FIG. 17 is a schematic view of the clutch assembly 160, Figure 5 FIG. 18 is a partial enlarged view of point C in FIG. 17, and Figure 9 FIG. 19 is a schematic view of the clutch assembly 160, Figure 10 As shown in FIGS. 17 to 19, the clutch assembly 160 can include a frame member 162 and a sliding part 164. The frame member 162 is installed on the frame 170, and the frame member 162 is provided with a first sliding groove 162a. The gland 130 is provided with a second sliding groove 134, and the sliding part 164 is movably arranged in the first sliding groove 162a and the second sliding groove 134. When the sliding part 164 is driven by the second flexible connecting member 143 to abut against the second sliding groove 134, the gland 130 fixes the frame 170.

[0082] When the steering engine 142 is in action, the second flexible connecting member 143 drives the sliding part 164 to move along the second sliding groove 134, so that the sliding part 164 can abut against the groove wall of the second sliding groove 134. Since the sliding part 164 is installed in the first sliding groove 162a, after the sliding part 164 abuts against the groove wall of the second sliding groove 134, the gland 130 and the frame 170 are locked, the frame 170 is fixedly connected with the motor base 113, and the gland 130 is rotatably connected with the motor base 113, so that the gland 130, the motor base 113 and the frame 170 are fixed as a whole, and then the whole connecting assembly 110 and the main wheel 120 are fixed as a whole. After the connecting assembly 110 and the main wheel 120 are fixed as a whole, the second flexible connecting member 143 continues to act to pull the whole of the connecting assembly 110 and the main wheel 120, so that the gland 130 lifts the front side of the main body 210 through the driving motor 112 and the motor base 113 (the connecting assembly 110).

[0083] In the embodiment, the second sliding groove 134 is in a strip shape, and the second sliding groove 134 is arranged to extend towards the motor base 113, that is, in the process of driving the second flexible connecting member 143 by the steering engine 142, the second flexible connecting member 143 pulls the sliding part 164 to slide towards the motor base 113, the sliding part 164 abuts against the groove wall of the second sliding groove 134 close to the motor base 113, so that the gland 130 and the frame 170 are fixed as a whole, and then the connecting assembly 110 and the main wheel 120 are fixed as a whole.

[0084] In some embodiments, the first sliding groove 162a is provided with an elastic member 165. The elastic member 165 is arranged between the sliding part 164 and the side wall of the first sliding groove 162a close to the motor base 113. Specifically, when the steering engine 142 is in action, the second flexible connecting member 143 is reeled, the sliding part 164 moves towards the connecting assembly 110 under the pulling of the second flexible connecting member 143, the elastic member 165 is compressed and stores energy. If the steering engine 142 is in action to release the second flexible connecting member 143, the sliding part 164 can be driven to move away from the connecting assembly 110 under the action of the restoring force of the elastic member 165, so that the sliding part 164 is reset. When the sliding part 164 moves away from the connecting assembly 110, the sliding part 164 is separated from the groove wall of the second sliding groove 134 close to the motor base 113, so that the gland 130 and the frame 170 are separated, that is, the connecting assembly 110 and the main wheel 120 can be separated, so that the main wheel 120 can rotate under the driving of the connecting assembly 110 to move the main body 210.

[0085] In some embodiments, the second flexible connecting member 143 can be arranged through the elastic member 164, so that the clutch assembly 160 can be arranged compactly.

[0086] In some embodiments, the cover 130 is further provided with a clearance slot 135, which is in communication with the second sliding slot 134. When assembling the clutch assembly 160, the sliding part 164 can be assembled into the second sliding slot 134 through the clearance slot 135, which facilitates the assembly of the clutch assembly 160.

[0087] The clearance slot 135 is in communication with the end of the second sliding slot 134 away from the motor base 113, and the clearance slot 135 and the second sliding slot 134 have a certain included angle. In the case that the cover 130 does not fix the motor base 113 and the frame 170, since the sliding part 164 is connected with the elastic member 165, the sliding part 164 can be located at the connection between the second sliding slot 134 and the clearance slot 135 (the end of the second sliding slot 134 away from the motor base 113), and will not slide out of the clearance slot 135, so that the sliding part 164 can work normally.

[0088] Figure 11 A structural schematic diagram of the cover 130 of the present disclosure is shown. In some embodiments, the cover 130 is provided with a stop surface 132, which is arranged close to the rotating connection part 131 of the cover 130 and the motor base 113. In the case that the cover 130 fixes the motor base 113 and the frame 170, the motor base 113 abuts against the stop surface 132, so that part of the stress of the motor base 113 can be transferred to the cover 130, which can reduce the risk of deformation or even damage of the motor base 113. The connecting shaft of the connecting assembly 110 can pass through the rotating connection part 131.

[0089] During the process of driving the main wheel 120 to rotate, the driving motor 112 can have small amplitude swing. In the case that the cover 130 is separated from the frame 170, the motor base 113 is separated from the stop surface 132, which can provide space for the swing of the driving motor 112, and reduce the collision between the motor base 113 and the stop surface 132 during the swing process, and the occurrence of damage or abnormal sound.

[0090] The working principle of the walking wheel assembly 100 and the cleaning robot 10 provided by the embodiments of the present disclosure is as follows: in order to facilitate understanding, the obstacle crossing process of the cleaning robot 10 is divided into a lifting stage, an obstacle crossing stage (second state), and a resetting stage, and the obstacle crossing process of the cleaning robot 10 will be described in detail below.

[0091] Figure 12 A structural schematic diagram of the lifting stage of the walking wheel assembly 100 is shown, Figure 12 The arrow indicates the direction of movement of the cleaning robot 10, as Figure 12As shown, the lifting stage: during the movement of the cleaning robot 10 on the operation surface, the need to overcome the obstacle, the steering wheel 142 retracts the second flexible connecting piece 143, the second flexible connecting piece 143 pulls the sliding part 164 to slide towards the motor base 113, the sliding part 164 abuts with one end of the second sliding groove 134 close to the motor base 113, the frame 170 is locked with the gland 130, so that the connecting assembly 110 and the main wheel 120 are fixed as a whole, the steering wheel 142 continues to retract the second flexible connecting piece 143, the second flexible connecting piece 143 lifts the tension shaft 116, so that the whole of the connecting assembly 110 and the main wheel 120 rotates around the main wheel 120 as the center, the motor base 113 is connected with the main body 210, the main body 210 rotates, so that the front side of the main body 210 is lifted, and the guide wheel 230 moves to the upper side of the obstacle. In this process, the second elastic member 154 is compressed, and the first elastic member 152 is stretched.

[0092] Figure 13 The structure schematic diagram of the walking wheel assembly 100 in the obstacle overcoming stage, Figure 13 The arrow in the middle indicates the direction of the cleaning robot 10, as Figure 13 As shown, the obstacle overcoming stage: after the front side of the main body 210 is lifted, the support wheel 220 on the rear side of the main body 210 contacts the ground and supports the main body 210. The connecting assembly 110 drives the main wheel 120 to move, the guide wheel 230 is placed on the upper surface of the obstacle, and the main wheel 120 is arranged close to the obstacle. The steering wheel 142 releases the second flexible connecting piece 143 by a certain distance, under the action of the restoring force of the first elastic member 152, the main wheel 120 moves towards the main body 210, so that the contact point of the main wheel 120 with the obstacle can be located below one third of the diameter of the main wheel 120, and the second elastic member 154 can provide a restoring force close to the motor base 113 to the main wheel 120 (a forward restoring force), so that the contact part of the main wheel 120 with the obstacle has a certain positive pressure, which can increase the friction between the main wheel 120 and the obstacle and improve the stability of the cleaning robot 10 in overcoming the obstacle.

[0093] Figure 14 The structure schematic diagram of the walking wheel assembly 100 in the reset stage, Figure 14 The arrow in the middle indicates the direction of the cleaning robot 10, as Figure 14 As shown, the reset stage: after the cleaning robot 10 completes the obstacle overcoming, the main wheel 120 and the guide wheel 230 contact the ground or the upper surface of the obstacle, and the steering wheel 142 releases the second flexible connecting piece 143, so that the main wheel 120 resets under the action of the first elastic member 152 and the second elastic member 154.

[0094] In some embodiments, when the cleaning robot 10 is in the first state, the main wheel 210 rotates to abut against the first operation surface; and when the cleaning robot 10 is in the second state, the main wheel 210 rotates to abut against the second operation surface, wherein the distance between the second operation surface and the first operation surface is greater than a preset value. The preset value is one third of the diameter of the main wheel.

[0095] The first operation surface can be the operation surface described above, and the second operation surface can be the top surface of the obstacle. When the distance between the operation surface and the top surface of the obstacle is greater than one third of the diameter of the main wheel, it indicates that the height of the current obstacle is relatively high. During the obstacle-crossing stage of the cleaning robot 10, the main wheel 120 moves up a distance under the restoring force of the first elastic member 152, so that the contact position of the main wheel 120 and the second operation surface (the top surface of the obstacle) can be below one third of the diameter of the main wheel 120, thereby reducing the difficulty of obstacle-crossing of the cleaning robot 10, and enabling the cleaning robot 10 to climb over higher obstacles.

[0096] Based on the same inventive concept, the embodiments of the present application also provide a cleaning system, which comprises a cleaning base station and the cleaning device described above. The cleaning base station can have functions of charging the cleaning device, cleaning the cleaning device, collecting impurities of the cleaning device, etc.

[0097] In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the protection scope required by the present disclosure.

[0098] 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, include: main body; as well as A wheel assembly, connected to the main body, guides the movement of the main body, and includes: Main wheel, connected to the main body; Capping; and Connecting component, connecting the pressure cap, When the cleaning robot switches from the first state to the second state, pressure is applied to the walking wheel assembly through the pressure cover, and the pressure cover lifts the main body through the connecting assembly.

2. The cleaning robot as described in claim 1, characterized in that, The first state is the moving state, and the second state is the obstacle crossing state.

3. The cleaning robot as described in claim 1, characterized in that, The wheel assembly also includes a frame covering at least a portion of the main wheels, the cover applying pressure to the wheel assembly through the frame.

4. The cleaning robot as described in claim 3, characterized in that, The frame has a first receiving portion facing the main wheel, and the main wheel is partially disposed within the first receiving portion. The frame maintains a gap with the main wheel through the first receiving portion.

5. The cleaning robot as described in claim 4, characterized in that, The pressure cap has a second receiving portion facing the first receiving portion, and the main wheel portion is disposed in the second receiving portion. The pressure cap maintains a gap with the main wheel through the second receiving portion.

6. The cleaning robot as described in claim 1, characterized in that, The connecting component is installed at the front of the main body.

7. The cleaning robot as described in claim 6, characterized in that, When the pressure cap applies pressure to the wheel assembly, the connecting assembly causes the front side of the main body to lift.

8. The cleaning robot as described in claim 7, characterized in that, The front side of the main body is raised to the rear side of the main body to abut the operating surface.

9. The cleaning robot as described in claim 6, characterized in that, The walking wheel assembly further includes a first flexible connector, one end of which is connected to the connecting component, and the other end of which is connected to the pressure cap. When the cleaning robot switches from the first state to the second state, the first flexible connector tightens, and the pressure cap pulls up the front side of the main body through the first flexible connector.

10. The cleaning robot as described in claim 9, characterized in that, The connecting assembly includes a tensioning shaft, and the first flexible connector is wound around the tensioning shaft.

11. The cleaning robot as described in claim 6, characterized in that, The walking wheel assembly further includes a clutch assembly, which includes a frame and a sliding part. The frame has a first sliding groove, and the pressure cover has a corresponding second sliding groove. The sliding part, which is coupled to the second flexible connector, is movably disposed in the first and second sliding grooves. When the cleaning robot switches from the first state to the second state, the sliding part slides towards the front of the main body, the second flexible connector tightens, and the pressure cover pulls up the front of the main body through the second flexible connector.

12. The cleaning robot as described in claim 11, characterized in that, An elastic element is provided in the first slide groove. One end of the elastic element abuts against the end of the first slide groove near the front side of the main body, and the other end of the elastic element abuts against the sliding part. The second flexible connector passes through the elastic element.

13. The cleaning robot as described in claim 11, characterized in that, The second flexible connector is tightened or loosened by the servo motor.

14. The cleaning robot as described in claim 1, characterized in that, The walking wheel assembly also includes a first elastic element, one end of which is connected to the pressure cap and the other end of which is connected to the main body. When the cleaning robot switches from the second state to the first state, the first elastic element cooperates with the main body to reset.

15. The cleaning robot as described in claim 14, characterized in that, The walking wheel assembly also includes a second elastic element, one end of which is connected to the connecting component, and the other end of which is connected to the pressure cap. When the cleaning robot switches from the second state to the first state, the second elastic element cooperates with the connecting component to reset.

16. The cleaning robot as described in claim 1, characterized in that, When the cleaning robot is in the first state, the main wheel rotates and abuts against the first operating surface; and When the cleaning robot is in the second state, the main wheel rotates and abuts against the second operating surface. Wherein, the distance between the second operating surface and the first operating surface is greater than a preset value.

17. The cleaning robot as described in claim 16, characterized in that, The preset value is one-third of the main wheel diameter.

18. A cleaning system, characterized in that, This includes cleaning base stations and cleaning robots as described in any one of claims 1-17.

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