Bearing equipment, cleaning device and cleaning system

Abstract

The utility model relates to the technical field of smart home, and discloses bearing equipment, a cleaning device and a cleaning system. The bearing equipment comprises a moving assembly, a connecting assembly and a driving mechanism. The connecting assembly is connected to the moving assembly and comprises at least two connecting pieces, and the connecting pieces are configured to drive the moving assembly to move; the driving mechanism comprises a synchronous transmission assembly and at least two transmission shafts, the transmission shafts are connected with the at least one connecting piece, the synchronous transmission assembly is connected with the at least two transmission shafts so that the at least two connecting pieces can move synchronously, and the synchronous transmission assembly comprises a motor. According to the bearing equipment, the movement synchronism of the moving assembly can be guaranteed, and the clamping stagnation and the unsmooth moving process caused by the fact that the two connecting pieces cannot move synchronously are avoided.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of smart home, in particular, to a bearing device and a cleaning device and a cleaning system. BACKGROUND

[0002] With the popularity of smart home, the sweeping robot has become an important tool for household cleaning. However, the traditional sweeping robot is limited by its moving ability and is difficult to cope with the cleaning problem of stairs in multi-story environments such as duplex houses and villas. In addition, in daily life, scenes such as heavy lifting and obstacle crossing also put forward higher requirements for the moving ability of automated equipment. However, the synchronization of the connecting pieces of the bearing device is poor at present, which leads to the bearing device being prone to jamming, and the moving process is not smooth and the like.

[0003] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the present disclosure is to overcome the shortcomings of the prior art, and to provide a bearing device and a cleaning device and a cleaning system.

[0005] According to one aspect of the present disclosure, a bearing device is provided, comprising:

[0006] a moving assembly;

[0007] a connecting assembly connected to the moving assembly, the connecting assembly comprising at least two connecting pieces, the connecting pieces being configured to drive the moving assembly to move;

[0008] a driving mechanism comprising a synchronous transmission assembly and at least two transmission shafts, the transmission shafts being connected to at least one of the connecting pieces, the synchronous transmission assembly being connected to at least two of the transmission shafts to drive at least two of the connecting pieces to move synchronously, the synchronous transmission assembly comprising a motor.

[0009] In an exemplary embodiment of the present disclosure, the synchronous transmission assembly comprises:

[0010] a driver having a driving shaft;

[0011] a gear box comprising a driving gear and at least two driven gears, the driving gear being connected to the driving shaft, the at least two driven gears being engaged with the driving gear, and the transmission shafts being connected to the driven gears.

[0012] In an exemplary embodiment of the present disclosure, the synchronous transmission assembly further comprises:

[0013] at least two synchronous wheels, at least one of which is arranged on one of the transmission shafts;

[0014] a synchronous belt, which is connected to two adjacent synchronous wheels.

[0015] In an exemplary embodiment of the present disclosure, the synchronous wheels and the synchronous belt are arranged at an end of the transmission shafts away from the gear box.

[0016] In an exemplary embodiment of the present disclosure, the synchronous transmission assembly further comprises:

[0017] a tensioning wheel, which cooperates with the synchronous belt, and is configured to tension the synchronous belt.

[0018] In an exemplary embodiment of the present disclosure, the synchronous transmission assembly further comprises:

[0019] a harmonic gear reducer, which is connected between the driver and the gear box.

[0020] In an exemplary embodiment of the present disclosure, the synchronous transmission assembly comprises:

[0021] at least two drivers, each of which has a driving shaft, and each of the driving shafts is connected to one of the transmission shafts;

[0022] at least two rotary encoders, each of which is connected to one of the drivers;

[0023] a controller, an input of which is electrically connected to outputs of the rotary encoders, and an output of which is electrically connected to control ends of the drivers.

[0024] In an exemplary embodiment of the present disclosure, the transmission shafts comprise two first transmission shafts and one second transmission shaft; and the synchronous transmission assembly comprises:

[0025] a first driver, which has a first driving shaft;

[0026] a gear box, which comprises a driving gear and at least two driven gears, the driving gear is connected to the first driving shaft, and the driven gears are engaged with the driving gear, and the first transmission shaft is connected to the driven gears;

[0027] a second driver, which has a second driving shaft, and the second driving shaft is connected to the second transmission shaft;

[0028] two rotary encoders, one of which is connected to the first driver, and the other of which is connected to the second driver;

[0029] a controller, an input end of the controller being electrically connected to output ends of the two rotary encoders, an output end of the controller being electrically connected to a control end of the first driver and a control end of the second driver.

[0030] In an exemplary embodiment of the present disclosure, the moving assembly comprises:

[0031] a support part;

[0032] a main body part comprising a carrying part for placing a cleaning device, the connecting assembly being configured to rotate under the driving of the driving mechanism to drive the main body part and the support part to move alternately.

[0033] In an exemplary embodiment of the present disclosure, the support part comprises two support structures, the two support structures being arranged at opposite sides of the main body part in a first direction, the first direction being an extension direction of the transmission shaft.

[0034] In an exemplary embodiment of the present disclosure, at least two of the transmission shafts have at least four driving end parts, the connecting assembly comprises at least four connecting pieces, the connecting pieces having oppositely arranged first ends and second ends, the at least four first ends being connected to the at least four driving end parts one by one and being rotatably connected to the main body part, and the second ends being rotatably connected to the support structures.

[0035] In an exemplary embodiment of the present disclosure, in a first state, the first end of the connecting piece is closer to the ground relative to the second end, the first state being a state of preparation for going upstairs or downstairs.

[0036] In an exemplary embodiment of the present disclosure, the driving mechanism is arranged in the main body part, and the transmission shaft is rotatably connected to the main body part.

[0037] According to another aspect of the present disclosure, there is provided a cleaning device comprising:

[0038] a carrying device, the carrying device having a carrying part;

[0039] a cleaning device arranged in the carrying part.

[0040] According to still another aspect of the present disclosure, there is provided a cleaning system comprising:

[0041] a base station;

[0042] a cleaning device, the cleaning device being the cleaning device as described above, the carrying device and / or the cleaning device being capable of interfacing with the base station.

[0043] The bearing device of the present disclosure can drive at least two transmission shafts to rotate synchronously through the synchronous transmission assembly, the connecting member is connected to the transmission shaft, so that the at least two connecting members can move synchronously, and the connecting assembly is connected to the moving assembly, so as to ensure the synchronism of the movement of the moving assembly, and avoid the jamming and the unsmooth movement caused by the unsynchronized movement of the two connecting members.

[0044] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0045] The drawings incorporated into the specification and forming a part of the specification, show embodiments consistent with the present disclosure, and together with the specification, serve to explain the principles of the present disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0046] Figure 1 The three-dimensional structure of the cleaning device after docking with the base station in the present disclosure is intended.

[0047] Figure 2 The three-dimensional structure of the cleaning device in the present disclosure is intended.

[0048] Figure 3 The three-dimensional structure of an example embodiment of the bearing device of the present disclosure is intended.

[0049] Figure 4 The three-dimensional structure of the bearing device in Figure 3 is shown after removing the cover.

[0050] Figure 5 The exploded structure of the structure in Figure 4 is shown.

[0051] Figure 6 The three-dimensional structure of the driving mechanism and the connecting assembly in Figure 4 is shown.

[0052] Figure 7 The schematic diagram of the bearing device climbing stairs in Figure 3 is shown.

[0053] Figure 8 The cross-sectional view of the structure in Figure 6 is shown along the axial direction of the transmission shaft.

[0054] Figure 9 The structure diagram of another example embodiment of the bearing device of the present disclosure is shown.

[0055] Figure 10A structural schematic diagram of still another example implementation of the carrying device of the present disclosure.

[0056] Figure 11 A structural schematic diagram of still another example implementation of the carrying device of the present disclosure.

[0057] Explanation of reference numerals:

[0058] 10, moving assembly;

[0059] 1, support part; 11, support structure; 111, support surface;

[0060] 2, main body part; 21, carrying part; 22, cover; 23, side plate;

[0061] 3, driving mechanism; 31, transmission shaft; 31a, first transmission shaft; 31b, second transmission shaft; 311, first part; 312, second part; 32, synchronous transmission assembly; 321, driver; 321a, first driver; 321b, second driver; 322, gear box; 3221, driving gear; 3222, driven gear; 323, synchronous wheel; 324, synchronous belt; 325, tension pulley; 326, harmonic gear reducer;

[0062] 3a, rotary encoder; 3b, controller;

[0063] 4, connecting assembly; 41, connecting piece; 411, first end; 4111, connecting sleeve; 412, second end; 4121, connecting shaft;

[0064] 5, cleaning device; 6, stairs; 7, gear assembly; 8, base station;

[0065] X, first direction; Y, second direction. DETAILED DESCRIPTION

[0066] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example implementations to those skilled in the art. Like reference numerals refer to like elements throughout the figures, and description of the same elements will be omitted from description of subsequent figures. In addition, the drawings are only schematic and are not necessarily to scale.

[0067] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0068] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0069] In this application, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium. "And / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Furthermore, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0070] Embodiments of this disclosure provide a cleaning system, such as Figures 1-3 As shown, the cleaning system includes a base station 8 and a cleaning device, which includes a cleaning unit 5 and a carrier device. The cleaning unit 5 can be, for example, a robotic vacuum cleaner, a robotic mop, or a robotic vacuum and mop combo; the cleaning unit 5 may include a device body, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. The base station 8 is used to dock the cleaning unit 5, allowing it to be parked. The cleaning unit 5 can perform functions such as charging, self-cleaning, docking, sewage discharge, water replenishment, and dust collection on the base station 8. The carrier device has a support section, on which the cleaning unit 5 can be located. The carrier device can then propel the cleaning unit 5 up stairs.

[0071] In one embodiment, the device body is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 5. If the cleaning device 5 is a sweeping and mopping robot, then the cleaning device 5 operates on the ground.

[0072] In an embodiment, the drive module includes a drive wheel assembly, the drive module can control the left wheel and the right wheel at the same time, in order to more accurately control the movement of the machine, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along the transverse axis defined by the device body.

[0073] In an embodiment, in order to enable the automatic cleaning device 5 to move more stably on the ground or have stronger movement ability, the automatic cleaning device 5 can include one or more steering wheels; wherein the steering wheel can be a driven wheel, or a drive wheel, the structural form includes but is not limited to a universal wheel, the steering wheel can be located in front of the drive wheel assembly. The drive motor provides power for the drive wheel assembly and / or the steering wheel.

[0074] In an embodiment, the perception module includes a position determination device located above the device body, a bumper located at the front portion of the device body, a cliff sensor and an ultrasonic sensor located at the bottom of the device body, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, an odometer and the like Sensing devices provide various position information and motion state information of the device body to the control module. For example, the front portion of the device body is provided with a bumper, when the drive wheel assembly propels the cleaning device 5 to walk on the ground during the cleaning process, the bumper detects one or more objects in the travel path of the cleaning device 5 through the sensor module, such as a collision sensor, the cleaning device 5 can control the driving structure to make the cleaning device 5 respond to the object, such as climbing over the step, by the object detected by the collision sensor, such as a step, an obstacle, a wall.

[0075] In an embodiment, the control module can comprehensively judge the current working state of the sweeping robot in combination with the distance information, speed information feedback by the bumper, cliff sensor and ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and the like, such as climbing a step, passing a threshold, on a carpet, at a cliff, being stuck above or below, being full of dust box, being picked up and the like, and give specific next action strategy for different situations, so that the work of the cleaning device 5 is more in line with the requirements of the owner, and has better user experience. Further, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 5.

[0076] In an embodiment, the energy module includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The host is connected with the charging pile through the charging electrode arranged on the side or the lower side of the machine body for charging.

[0077] In an embodiment, the human-computer interaction module includes a button on the host panel, which is used for the user to select a function; and can further include a display screen and / or an indicator light and / or a loudspeaker, which shows the user the current state of the machine or the function selection item; and can further include a mobile phone client program. For the path navigation type cleaning device 5, the mobile phone client can show the user a map of the environment where the device is located, and the position of the machine, and can provide the user with more rich and humanized function items.

[0078] In an embodiment, the cleaning module can include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module can include a roller brush assembly, an edge brush, etc., and the wet cleaning module can include a cleaning head, a water tank, etc.

[0079] The traditional cleaning device 5 is limited by its moving ability and is difficult to deal with the stair cleaning problem in the multi-story environment such as a duplex house and a villa. In addition, in daily life, heavy lifting, obstacle crossing and other scenes also put forward higher requirements for the moving ability of the automated device. In the related art, although some devices can realize simple stair climbing, they are generally prone to jamming and have an unsmooth moving process, which cannot meet the actual application requirements. To this end, the embodiment of the present disclosure provides a carrying device which can carry the cleaning device 5 to automatically climb stairs to move to different floors, so that the cleaning device 5 can clean the stairs and different floors, and overcomes the problems that the carrying device carrying the cleaning device 5 automatically climbs stairs is prone to jamming and has an unsmooth moving process.

[0080] Reference Figures 2-10 As shown in the figure, the carrying device can include a moving assembly 10, a connecting assembly 4 and a driving mechanism 3; the connecting assembly 4 is connected to the moving assembly 10, and the connecting assembly 4 can include at least two connecting pieces 41, the connecting piece 41 being configured to drive the moving assembly 10 to move; the driving mechanism 3 can include a synchronous transmission assembly 32 and at least two transmission shafts 31, the transmission shaft 31 being connected to at least one connecting piece 41, and the synchronous transmission assembly 32 being connected to at least two transmission shafts 31 to make at least two connecting pieces 41 move synchronously, and the synchronous transmission assembly 32 including a motor.

[0081] The bearing device of the present disclosure can drive the at least two transmission shafts 31 to rotate synchronously through the synchronous transmission assembly 32, the connecting members 41 are connected to the transmission shafts 31, so that the at least two connecting members 41 can move synchronously, and the connecting assembly 4 is connected to the moving assembly 10, so as to ensure the synchronism of the movement of the moving assembly 10, and avoid the jamming and the unsmooth movement caused by the unsynchronized movement of the at least two connecting members 41.

[0082] In the example embodiment, the moving assembly 10 can include a support part 1 and a main body part 2, and the main body part 2 can include a bearing part 21 for placing the cleaning device 5.

[0083] The cleaning device 5 can be a sweeping robot, a floor washing machine, a dust collector, a sweeping and mopping integrated machine, a window cleaning robot, etc. The cleaning device 5 can include a cleaning part, which can be a roller brush, an edge brush, a water outlet, a mopping piece, a window cleaning piece, etc., for cleaning the surface to be cleaned.

[0084] In an embodiment, as shown in Figure 3 , the main body part 2 can include a bearing part 21, side plates 23 and a cover 22. The bearing part 21 can be provided in the form of a plate, and is used for placing the cleaning device 5. The side plates 23 can be provided in four, which are connected end to end to form a frame-shaped side frame surrounding the bearing part 21. The cover 22 is arranged on the side frame formed by the four side plates 23, so that the main body part 2 forms a containing cavity, and the cleaning device 5 can be arranged in the containing cavity. Of course, in some other example embodiments of the present disclosure, the cover 22 can not be provided, and only the bearing part 21 and the side plates 23 can be provided. The number and structure of the side plates 23 can also be arranged as needed.

[0085] In an embodiment, as shown in Figure 3 and Figure 4 , the support part 1 can include two support structures 11. For example, the support structure 11 can be a support plate, i.e., the support structure 11 can be provided in the form of a plate; or the support structure 11 can be a support frame, i.e., the support structure 11 can be provided in the form of a frame. The support structure 11 specifically includes a support surface 111, which is a surface of the support structure 11 close to the ground or the tread surface of the stairs 6. The support surface 111 can be provided in the form of a plane, and is used for contacting the ground or the tread surface of the stairs 6, so that the support structure 11 can support itself and the main body part 2.

[0086] In an embodiment, as shown in Figures 3-6As shown, the connecting assembly 4 can include at least two connecting pieces 41, for example, in the case that the connecting assembly 4 and the support structure 11 are arranged on one side of the main body 2, the connecting assembly 4 can include two connecting pieces 41, the connecting assembly 4 can also include three connecting pieces 41; in the case that the connecting assembly 4 and the support structure 11 are arranged on both sides of the main body 2, the connecting assembly 4 can include two connecting pieces 41, the connecting assembly 4 can also include four connecting pieces 41, the number of connecting pieces 41 is even, which will not be described here. The connecting assembly 4 can also include more connecting pieces 41, the connecting pieces 41 can be long strip-shaped plate-shaped connecting plates or rod-shaped connecting rods.

[0087] In an embodiment, referring to Figures 4-6 As shown, the driving mechanism 3 can include a synchronous transmission assembly 32 and at least two transmission shafts 31, the synchronous transmission assembly 32 connects the at least two transmission shafts 31, and the at least two transmission shafts 31 can be driven to rotate synchronously by the synchronous transmission assembly 32, that is, the two transmission shafts 31 start and stop rotating at the same time, and the rotating speed, the starting position and the ending position are the same.

[0088] For example, the driving mechanism 3 can include a synchronous transmission assembly 32 and two transmission shafts 31, the driving mechanism 3 can also include a synchronous transmission assembly 32 and three transmission shafts 31, and the driving mechanism 3 can also include a synchronous transmission assembly 32 and more transmission shafts 31; which will not be described here.

[0089] The transmission shaft 31 is connected to at least one connecting piece 41, for example, one transmission shaft 31 can be connected to one connecting piece 41, one transmission shaft 31 can also be connected to two connecting pieces 41, and the two connecting pieces 41 can be connected to the two driving end portions of the transmission shaft 31. The opposite ends of the transmission shaft 31 are the driving end portions thereof, one transmission shaft 31 has two driving end portions, and at least two transmission shafts 31 have at least four driving end portions, for example, the driving mechanism 3 can include two transmission shafts 31 rotating synchronously, and the two transmission shafts 31 have four driving end portions. The driving mechanism 3 can include three transmission shafts 31 rotating synchronously, and the three transmission shafts 31 have six driving end portions. The driving mechanism 3 can include more transmission shafts 31 rotating synchronously, and the number of driving end portions can be twice the number of transmission shafts 31.

[0090] The at least two transmission shafts 31 can be driven to rotate synchronously by the synchronous transmission assembly 32, and the connecting piece 41 is connected to the transmission shaft 31, so that the at least two connecting pieces 41 can move synchronously, the connecting assembly 4 is connected to the moving assembly 10, that is, the connecting piece 41 is connected to the moving assembly 10, and the connecting piece 41 is configured to drive the moving assembly 10 to move; so as to ensure the synchronism of the movement of the moving assembly 10, and avoid the jamming and the unsmooth movement caused by the unsynchronized movement of the two connecting pieces 41.

[0091] In an embodiment, referring to Figure 4 two support structures 11 are arranged on opposite sides of the main body 2 along the first direction X, i.e. one support structure 11 is arranged on one side of the main body 2 along the first direction X, and the other support structure 11 is arranged on the opposite side of the main body 2 along the first direction X, so that the main body 2 is located between the two support structures 11.

[0092] Each connecting piece 41 has a first end 411 and a second end 412 arranged oppositely, and at least four connecting pieces 41 have at least four first ends 411 and at least four second ends 412.

[0093] In the following, taking the example of two transmission shafts 31 and four connecting pieces 41, the synchronization of the four connecting pieces 41 needs to be ensured.

[0094] Referring to Figures 4-6 the four first ends 411 are connected to the at least four driving end portions one by one, i.e. the first ends 411 of two connecting pieces 41 are connected to two driving end portions of one transmission shaft 31, and the first ends 411 of the other two connecting pieces 41 are connected to two driving end portions of the other transmission shaft 31, so that one transmission shaft 31 can simultaneously drive two connecting pieces 41 to rotate, ensuring the synchronization of the rotation of the two connecting pieces 41, and the synchronization of the rotation of the four connecting pieces 41 is ensured through the synchronous rotation of the transmission shafts 31. The first end 411 of the connecting piece 41 is fixedly connected to the driving end portion. Two connecting pieces 41 in the four connecting pieces 41 form two groups, and the two groups of connecting pieces 41 are located on opposite sides of the main body 2 along the first direction X one by one, and are rotatably connected to the main body 2, so that two connecting pieces 41 are rotatably connected on opposite sides of the main body 2 along the first direction X, and the four connecting pieces 41 simultaneously drive the main body 2 to move, avoiding the rotation of the main body 2 due to the deviation of the center of gravity of the main body 2, so that the main body 2 cannot be moved to the position. The second end 412 is rotatably connected to the support structure 11, so that one support structure 11 is connected to two connecting pieces 41, and the two connecting pieces 41 simultaneously drive one support structure 11 to move, and the four connecting pieces 41 simultaneously drive two support structures 11 (supporting portions 1) to move, avoiding the rotation of the supporting portion 1 due to the deviation of the center of gravity of the support structure 11, so that the supporting portion 1 cannot be moved to the position.

[0095] In an embodiment, referring to Figures 4-6 , Figure 8As shown, the first end 411 of the connecting member 41 is provided with a connecting sleeve 4111 extending along the first direction X, the connecting sleeve 4111 is sleeved outside the transmission shaft 31, the connecting sleeve 4111 is sleeved on the driving end of the transmission shaft 31, and is in interference fit with the transmission shaft 31; the driven gear 3222 is sleeved outside the connecting sleeve 4111 and the transmission shaft 31, and is also in interference fit with the connecting sleeve 4111 and the transmission shaft 31, so that the driven gear 3222 can drive the transmission shaft 31 and the connecting member 41 to rotate synchronously.

[0096] Alternatively, the driving mechanism 3 can be arranged in the main body 2, and a through hole is arranged on the side plate 23 on the opposite side of the main body 2 along the first direction X, and a bearing can be arranged in the through hole, and the connecting sleeve 4111 of the connecting member 41 is installed in the bearing, so that the connecting member 41 is rotatably connected to the main body 2.

[0097] The connecting member 41 and the support structure 11 can also be rotatably connected through a bearing. Specifically, a connecting shaft 4121 extending along the first direction X is arranged on the connecting member 41, and a bearing is arranged on the connecting shaft 4121; a bearing hole is arranged on the support structure 11, and the bearing on the connecting shaft 4121 is installed in the bearing hole.

[0098] Alternatively, referring to Figures 4-6 As shown, in the first state, the first end 411 of the connecting member 41 is closer to the ground than the second end 412. Such an arrangement makes the support structure 11 a structure supported by the connecting member 41. The first state can be a preparation state for going upstairs or downstairs, and the preparation state for going upstairs or downstairs is a state in which the main body 2 and the support structure 1 do not move relative to each other, so that the carrying device can be used to climb stairs or go downstairs.

[0099] Referring to Figure 7 As shown, the solid line in the figure is the initial state, the main body 2 of the initial state is not shown; the dashed line is the intermediate state, the thick solid line is the final state after climbing stairs, and the arrow is the rotation direction of the connecting member 41. The connecting member 41 rotates away from the stairs 6, so that the main body 2 also rotates away from the stairs 6, gradually lifting the main body 2 to the highest position; then, the connecting member 41 rotates towards the stairs 6, so that the main body 2 also rotates towards the stairs 6, gradually lowering the main body 2 to the tread of the next step of the stairs 6. Then, the connecting member 41 continues to rotate away from the stairs 6, so that the support structure 1 also rotates away from the stairs 6, gradually lifting the support structure 1 to the highest position; then, the connecting member 41 rotates towards the stairs 6, so that the support structure 1 also rotates towards the stairs 6, gradually lowering the support structure 1 to the tread of the next step of the stairs 6. The climbing of the first step of the stairs 6 is completed.

[0100] The above-mentioned method uses the synchronous rotation of four connecting parts 41 to drive the main body 2 and the support part 1 to move alternately to the tread of the stairs, thereby realizing the stair climbing function. Therefore, the synchronous rotation of the four connecting parts 41 is highly demanding. If even one connecting part 41 fails to rotate synchronously, jamming will occur, affecting the realization of the stair climbing function.

[0101] It should be noted that staircase 6 is not limited to a staircase between two floors; it can also be several steps between two planes of different heights. Therefore, climbing stairs can also mean going up and down steps.

[0102] Of course, the support device can also be used for non-climbing purposes, such as walking, moving, and crossing obstacles. Similarly, when the support device is walking, moving, or crossing obstacles (non-climbing), the main body 2 and the support 1 move alternately by the synchronous rotation of the four connecting parts 41. Therefore, the synchronization requirement for the rotation of the four connecting parts 41 is high. If even one connecting part 41 fails to rotate synchronously, jamming will occur, affecting the realization of the movement function.

[0103] In one embodiment, reference is made to Figures 4-6 , Figure 8 As shown, the synchronous transmission assembly 32 may include a driver 321 and a gearbox 322; the driver 321 has a drive shaft; the driver 321 may be a motor, for example, a high-torque motor, which is a motor capable of outputting a large torque. Torque is the force generated when a motor rotates, and it determines the motor's ability to drive a load. Of course, in some other exemplary embodiments of this disclosure, the driver 321 may also be a servo motor, or it may be a conventional motor.

[0104] The gearbox 322 may include a driving gear 3221 and at least two driven gears 3222. For example, the gearbox 322 may include a driving gear 3221 and two driven gears 3222, or the gearbox 322 may include a driving gear 3221 and three driven gears 3222, or the gearbox 322 may include a driving gear 3221 and more driven gears 3222.

[0105] When the number of driven gears 3222 is even, at least two driven gears 3222 are symmetrically arranged, with the axis of symmetry being the diameter of the driving gear 3221. That is, the driven gears 3222 meshing with the driving gear 3221 have the same size and structure, and the driven gears 3222 immediately adjacent to the driving gear 3221 also have the same size and structure. Subsequent driven gears 3222 are also symmetrically arranged in the same way. This ensures the synchronization of the transmission shafts 31 connected to the driven gears 3222. In this case, the two transmission shafts 31 are generally connected to the two driven gears 3222 furthest from the driving gear 3221.

[0106] When the number of driven gears 3222 is odd, the odd number of driven gears 3222 are all the same in size and structure to ensure the synchronization of the transmission shafts 31 connected to the driven gears 3222. In this case, a transmission shaft 31 can be connected to each driven gear 3222, and three transmission shafts 31 can be provided.

[0107] A drive gear 3221 is connected to a drive shaft, and at least two driven gears 3222 mesh with the drive gear 3221. At least two transmission shafts 31 are connected to the at least two driven gears 3222. The drive gear 3221 can be driven to rotate by the driver 321, which in turn drives the at least two driven gears 3222 to rotate, and the at least two driven gears 3222 drive the at least two transmission shafts 31 to rotate. Moreover, the arrangement of the driven gears 3222 ensures the synchronization of the transmission shafts 31 connected to the driven gears 3222.

[0108] By using a single motor to drive at least two drive shafts 31 to rotate, the synchronicity of the rotation of at least two drive shafts 31 can be guaranteed, and a single motor can be saved, thereby reducing costs.

[0109] Alternatively, the synchronous transmission assembly 32 may also include at least one synchronous belt 324 and at least two synchronous pulleys 323; at least one synchronous pulley 323 is provided on a transmission shaft 31, and the synchronous belt 324 is connected to two adjacent synchronous pulleys 323.

[0110] For example, refer to Figures 4-6 , Figure 8 As shown, when there are two drive shafts 31, a synchronous pulley 323 is provided on one drive shaft 31, so there are two synchronous pulleys 323. A synchronous belt 324 is connected to two adjacent synchronous pulleys 323, so there is one synchronous belt 324. Thus, the synchronous transmission assembly 32 can also include a synchronous belt 324 and two synchronous pulleys 323.

[0111] In some other exemplary embodiments of this disclosure, when three drive shafts 31 are provided, a synchronous pulley 323 is provided on each of the two drive shafts 31 on both sides, and two synchronous pulleys 323 can be provided on the middle drive shaft 31, resulting in four synchronous pulleys 323. A synchronous belt 324 connects to two adjacent synchronous pulleys 323, resulting in two synchronous belts 324. Thus, the synchronous transmission assembly 32 can also include two synchronous belts 324 and four synchronous pulleys 323. Furthermore, cases with more than one drive shaft 31 will not be described here.

[0112] In the case that the two transmission shafts 31 rotate asynchronously, one transmission shaft 31 rotates faster, and the other transmission shaft 31 rotates slower. The transmission shaft 31 rotating faster drives the transmission shaft 31 rotating slower through the synchronous belt 324 and the synchronous wheel 323, so that the synchronous wheel 323 and the synchronous belt 324 can further ensure the synchronism of the rotation of the at least two transmission shafts 31, and further ensure the synchronism of the movement of the at least four connecting members 41, so as to avoid the jamming, climbing, and the unsmooth movement caused by the unsynchronized movement of the two connecting members 41. Especially for the structure with a longer transmission shaft 31.

[0113] In some other example embodiments of the present disclosure, the mutually meshing gears can be arranged on the adjacent two transmission shafts 31 instead of the synchronous wheel 323 and the synchronous belt 324; and the chain wheel and the chain can also be used instead of the synchronous wheel 323 and the synchronous belt 324, specifically, the chain wheel is arranged on the transmission shaft 31, and the chain is connected to the adjacent two chain wheels.

[0114] Alternatively, as shown in Figures 4-6 , Figure 8 , the synchronous wheel 323 and the synchronous belt 324 are arranged at the end of the transmission shaft 31 away from the gear box 322; that is, the gear box 322 and the synchronous wheel 323 and the synchronous belt 324 are arranged at the opposite ends of the extension direction of the transmission shaft 31. Since the gear box 322 has ensured the synchronism of the rotation of the at least two transmission shafts 31 at one end of the transmission shaft 31, in the case that the transmission shaft 31 is arranged to be longer, the synchronism of the end of the transmission shaft 31 away from the gear box 322 cannot be ensured. The synchronous wheel 323 and the synchronous belt 324 can ensure the synchronism of the end of the transmission shaft 31 away from the gear box 322, so as to ensure the synchronism of the at least four driving end portions of the at least two transmission shafts 31, and further ensure the synchronism of the movement of the at least four connecting members 41, so as to avoid the jamming, climbing, and the unsmooth movement caused by the unsynchronized movement of the four connecting members 41.

[0115] Alternatively, as shown in Figures 4-6 , the synchronous transmission assembly 32 can further include a tensioning wheel 325, specifically, the tensioning wheel 325 can include a tensioning wheel shaft and a wheel body, etc., and the wheel body is rotatably connected to the tensioning wheel shaft; the tensioning wheel shaft can be connected to the main body 2, and the tensioning wheel 325 cooperates with the synchronous belt 324, specifically, the wheel body cooperates with the synchronous belt 324, and the position of the wheel body can be adjusted, so as to realize the tensioning of the synchronous belt 324, and avoid the over-looseness of the synchronous belt 324 in the use process, which affects the synchronism of the at least two transmission shafts 31.

[0116] Alternatively, as shown in Figure 6As shown, the synchronous transmission assembly 32 can further include a harmonic gear reducer 326 connected between the driver 321 and the gear box 322. The harmonic gear reducer 326 is a mechanism that uses the principle of harmonic vibration to achieve gear transmission. It is composed of three basic elements: a rigid wheel (fixed wheel), a flexible wheel (elastic wheel), and a wave generator. The wave generator is usually oval or similar in shape and is inserted into the flexible wheel through a bearing. With the rotation of the wave generator, the flexible wheel will be subjected to radial pressure, causing elastic deformation, and thus achieving the interlocking engagement with the teeth on the rigid wheel, realizing the conversion of torque and speed. The harmonic gear reducer 326 has the advantages of high precision, large reduction ratio, small and light weight, high load capacity, high transmission efficiency, low noise, and simple and compact structure. The harmonic gear reducer 326 can achieve micron-level positioning accuracy. Therefore, through the harmonic gear reducer 326, the backlash between the gears can be reduced or even eliminated, further ensuring the synchronization of the rotation of the at least two transmission shafts 31, and thus ensuring the synchronization of the movement of the at least two connecting members 41, avoiding the jamming, climbing, and unsuccessful movement caused by the unsynchronized movement of the at least two connecting members 41.

[0117] The specific structure of the synchronous transmission assembly 32 is not limited to the above description. For example, in another example embodiment of the present disclosure, referring to Figure 9 and Figure 10 As shown, the synchronous transmission assembly 32 can include a controller 3b, at least two drivers 321, and at least two rotary encoders 3a; the drivers 321 have driving shafts, and the at least two driving shafts are connected to the at least two transmission shafts 31 one by one, that is, one driver 321 is connected to one transmission shaft 31, and one driver 321 drives one transmission shaft 31 to rotate; the number of drivers 321 is the same as the number of transmission shafts 31.

[0118] The driver 321 can be an electric motor, referring to Figure 9 As shown, the driver 321 can be a double-end output motor, that is, two driving shafts are driven by one motor, achieving double power output; one transmission shaft 31 can be divided into two segments, one of which is connected to one driving shaft of the driver 321 through a shaft coupling, and the other of which is connected to the other driving shaft of the driver 321 through a shaft coupling, and the two segments away from the driving end of the driver 321 can be connected to the connecting members 41.

[0119] Referring to Figure 10 As shown, the driver 321 can be connected to the transmission shaft 31 through a gear assembly 7, specifically, the gear assembly 7 can include at least two gears meshing with each other, the output shaft of the driver 321 is connected to one gear, and the transmission shaft 31 is connected coaxially to the other gear; so that both driving end portions of the transmission shaft 31 can be connected to the connecting members 41.

[0120] For example, the driver 321 can be a large-torque motor, which refers to a motor capable of outputting a large torque, the torque being a moment of force generated when the motor rotates, which determines the ability of the motor to drive a load. Of course, in some other example embodiments of the present disclosure, the driver 321 can also be a servo motor, and the driver 321 can also be a common motor.

[0121] The at least two rotary encoders 3a are connected to the at least two drivers 321 in a one-to-one correspondence, that is, one rotary encoder 3a is connected to the first driver 321. The rotary encoder 3a is a sensor that converts the amount of mechanical displacement of rotation into an electrical signal. The working principle of the rotary encoder 3a is based on the photoelectric effect or the magneto-electric effect. In the photoelectric rotary encoder 3a, a photoelectric code disc with a central shaft is usually included, and the code disc has annular light and dark lines. When the code disc rotates with the measured object, the photoelectric emitter and receiver will read the changes in these lines, thereby obtaining the corresponding electrical signals. These electrical signals can be converted into position, speed, or angle information after processing. The magneto-electric rotary encoder 3a uses the change of the magnetic field to generate an electrical signal.

[0122] The number of rotations of each driver 321 can be detected by the rotary encoder 3a, and the accuracy is up to an angle second (″); that is, the actual speed of each driver 321 and the rotational position at each moment can be detected by the rotary encoder 3a.

[0123] The input end of the controller 3b is electrically connected to the output end of the at least two rotary encoders 3a, so that the rotary encoders 3a can transmit the detected actual speed of each driver 321 and the rotational position at each moment to the controller 3b. The output end of the controller 3b is electrically connected to the control end of the at least two drivers 321, and the controller 3b can detect the speed of one motor and compare it with the speed of another motor; then, it will generate a signal to adjust the speed of the second motor, so that the speed of the second motor remains consistent with that of the first motor. This method can achieve more accurate synchronization. The controller 3b can include a phase-locked loop (PLL).

[0124] Of course, in the case where the transmission shaft 31 is relatively long, the above-mentioned synchronous belt 324 and synchronous wheel 323 structure can also be provided to ensure the synchronization of the rotation of the at least two transmission shafts 31.

[0125] In addition, in some other example embodiments of the present disclosure, the structure can be a combination of the above two example embodiments, specifically, referring to Figure 11As shown, three transmission shafts 31 can be provided, for the convenience of description, the three transmission shafts 31 are two first transmission shafts 31a and one second transmission shaft 31b. Two drivers 321 are provided, the two drivers 321 are a first driver 321a and a second driver 321b, the first driver 321a is connected to the driving gear 3221 of the gear box 322, the two driven gears 3222 of the gear box 322 are connected to the two first transmission shafts 31a in a one-to-one correspondence, and the two first transmission shafts 31a are driven to rotate synchronously by the first driver 321a and the gear box 322. The second driver 321b is connected to the second transmission shaft 31b, specifically, the second driver 321b can be connected to the second transmission shaft 31b through the gear assembly 7. The rotary encoder 3a is connected to the first driver 321a and the second driver 321b. The input end of the controller 3b is electrically connected to the output ends of the two rotary encoders 3a, so that the rotary encoders 3a can transmit the actual rotating speed of each driver 321 and the rotating position at each moment to the controller 3b. The output end of the controller 3b is electrically connected to the control end of the first driver 321a and the control end of the second driver 321b, and the controller 3b can detect the speed of the first driver 321a and compare it with the speed of the second driver 321b. Then, it will generate a signal to adjust the speed of the second driver 321b, so that the speed of the second driver 321b keeps consistent with the speed of the first driver 321a, thereby realizing the synchronous rotation of the three transmission shafts 31. The connecting pieces 41 are connected to both ends of the three transmission shafts 31, so six connecting pieces 41 are provided, thereby ensuring the synchronization of the movement of the six connecting pieces 41, avoiding the jamming, climbing and unsmooth movement of the six connecting pieces 41 caused by the unsynchronized movement of the six connecting pieces 41.

[0126] Of course, in some other example embodiments of the present disclosure, more transmission shafts 31 can be provided, and the synchronous rotation of more transmission shafts 31 can be realized, which will not be described one by one here.

[0127] In an embodiment, referring to Figure 8 As shown, the transmission shaft 31 can be provided in two sections, that is, the transmission shaft 31 can include a first part 311 and a second part 312. The first part 311 and the second part 312 can be connected by a shaft coupling, or a first flange can be provided on the first part 311, and a second flange can be provided on the second part 312, and the first flange and the second flange are connected by screws, thereby fixedly connecting the first part 311 and the second part 312.

[0128] Based on the same inventive concept, the example embodiments of the present disclosure provide a cleaning device, which can comprise a carrying device and a cleaning device 5. The carrying device can be any of the carrying devices described above, and the specific structure of the carrying device has been described in detail above, so it will not be repeated here. The carrying device has a carrying part 21, and the cleaning device 5 is arranged on the carrying part 21. The carrying part 21 can be a containing cavity, and the cleaning device 5 is arranged in the containing cavity. The carrying device can drive the cleaning device 5 to climb stairs, that is, the cleaning device 5 is driven from one floor to another floor, so as to clean the other floor.

[0129] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

Claims

1. A load bearing device, characterized by, The application relates to a cleaning device, comprising: a moving assembly; a connecting assembly connected to the moving assembly, the connecting assembly comprising at least two connecting members configured to drive the moving assembly to move; a driving mechanism comprising a synchronous transmission assembly and at least two transmission shafts, the transmission shafts being connected to at least one of the connecting members, the synchronous transmission assembly being connected to at least two of the transmission shafts to drive the at least two connecting members to move synchronously, the synchronous transmission assembly comprising a motor.

2. The load bearing device of claim 1, wherein, The synchronous transmission assembly comprises: a driver having a driving shaft; a gear box comprising a driving gear connected to the driving shaft and at least two driven gears engaged with the driving gear, the transmission shafts being connected to the driven gears.

3. The load bearing device of claim 2, wherein, The synchronous transmission assembly further comprises: at least two synchronous wheels provided on one of the transmission shafts; a synchronous belt connected to two adjacent synchronous wheels.

4. The load bearing device of claim 3, wherein, The synchronous wheels and the synchronous belt are provided at the end of the transmission shafts away from the gear box.

5. The load bearing device of claim 3, wherein, The synchronous transmission assembly further comprises: a tensioning wheel matched with the synchronous belt, the tensioning wheel being configured to tension the synchronous belt.

6. The load bearing apparatus of claim 2, wherein, The synchronous transmission assembly further comprises: a harmonic gear reducer connected between the driver and the gear box.

7. The load bearing device of claim 1, wherein, The synchronous transmission assembly comprises: at least two drivers having driving shafts, the driving shafts being connected to the transmission shafts one by one; at least two rotary encoders connected to the drivers one by one; a controller having an input end electrically connected to the output ends of the rotary encoders and an output end electrically connected to the control ends of the drivers.

8. The load bearing apparatus of claim 1, wherein, The transmission shafts comprise two first transmission shafts and one second transmission shaft; the synchronous transmission assembly comprises: a first driver having a first driving shaft; a gear box comprising a driving gear connected to the first driving shaft and at least two driven gears engaged with the driving gear, the first transmission shafts being connected to the driven gears; a second driver having a second driving shaft connected to the second transmission shaft; two rotary encoders, one of which is connected to the first driver and the other of which is connected to the second driver; a controller having an input end electrically connected to the output ends of the rotary encoders and an output end electrically connected to the control ends of the first driver and the second driver.

9. The load bearing device of any of claims 1-8, wherein, The moving assembly comprises: a support part; a main body part comprising a bearing part for placing a cleaning device, the connecting assembly being configured to rotate under the driving of the driving mechanism to drive the main body part and the support part to move alternately.

10. The load bearing device of claim 9, wherein, The support part comprises two support structures provided at the opposite sides of the main body part in a first direction, the first direction being the extension direction of the transmission shafts.

11. The load bearing device of claim 10, wherein, At least two of the transmission shafts have at least four driving end portions, the connecting assembly comprises at least four connecting pieces, the connecting pieces have oppositely arranged first ends and second ends, the at least four first ends are connected to the at least four driving end portions one by one, and are rotatably connected to the main body part; the second ends are rotatably connected to the support structure.

12. The load bearing device of claim 11, wherein, In the first state, the first ends of the connecting pieces are closer to the ground relative to the second ends, and the first state is a state of preparation for going upstairs or downstairs.

13. The load bearing device of claim 9, wherein, The driving mechanism is arranged in the main body part, and the transmission shafts are rotatably connected to the main body part.

14. A cleaning device, characterized by Comprise: The bearing device is the bearing device of any one of claims 1-13, and the bearing device has a bearing part; The cleaning device is arranged on the bearing part.

15. A cleaning system characterized by, Comprise: The base station; The cleaning device is the cleaning device of claim 14, and the bearing device and / or the cleaning device can be docked with the base station.

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