Universal wheel assembly, cleaning main machine and cleaning system

Abstract

The utility model is suitable for the technical field of household appliance equipment, and provides a universal wheel assembly, a cleaning main machine and a cleaning system, the universal wheel assembly is applied to the cleaning main machine, the universal wheel assembly comprises a universal wheel and a lifting device, and the universal wheel is installed below a machine body of the cleaning main machine through the lifting device; the lifting device comprises a lifting driving assembly and a lifting assembly, the lifting assembly is provided with a first mounting shell and a second mounting shell which can move relatively, the first mounting shell is connected with the universal wheels, the second mounting shell is connected with the machine body, and the lifting driving assembly is mounted on the second mounting shell; and the driving assembly is used for driving the lifting assembly to act, so that the first mounting shell drives the universal wheels to be close to or away from the machine body. The universal wheel assembly can improve the obstacle crossing height, the obstacle crossing ability and the escape ability of the cleaning main machine, so that the cleaning main machine has high ground environment adaptability and high practicability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of household electrical appliances, and more particularly relates to a universal wheel assembly, a cleaning host, and a cleaning system. BACKGROUND

[0002] In modern family life, keeping the ground clean has become an important daily task, and floor cleaning devices such as sweeping robots, mopping robots, and sweeping and mopping robots have emerged to provide great convenience for people. The ability of the existing floor cleaning device to cross obstacles during automatic driving is crucial to the automatic cleaning ability of the cleaning device and the user experience.

[0003] In order to improve the obstacle crossing height of the cleaning device, the related art relies on software strategies to improve the obstacle crossing function of the cleaning device by adjusting parameters such as the angle and speed of the cleaning device approaching the obstacle. This solution is subject to physical limitations such as the ground clearance of the cleaning device, resulting in limited improvement.

[0004] 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. SUMMARY

[0005] The present application aims to solve or improve the technical problem of poor obstacle crossing ability of the cleaning device in the prior art.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present application is:

[0007] In a first aspect, the present application provides a universal wheel assembly applied to a cleaning host, the universal wheel assembly comprising a universal wheel and a lifting device, the universal wheel being installed below a machine body of the cleaning host through the lifting device; the lifting device comprising a lifting driving assembly and a lifting assembly, the lifting assembly having a first mounting shell and a second mounting shell capable of relative movement, the first mounting shell being connected with the universal wheel, the second mounting shell being connected with the machine body, the lifting driving assembly being installed on the second mounting shell and used to drive the lifting assembly to act, so as to make the first mounting shell drive the universal wheel to approach or move away from the machine body.

[0008] In some possible embodiments, the lifting assembly further comprises a scissor lifting mechanism, two ends of the scissor lifting mechanism being connected to the first mounting shell and the second mounting shell respectively, and the lifting driving assembly being in transmission connection with the scissor lifting mechanism.

[0009] In some possible embodiments, the scissor lifting mechanism comprises:

[0010] a pair of scissors arms connected between the first mounting shell and the second mounting shell, the pair of scissors arms comprising a first scissors arm and a second scissors arm hingedly connected to each other, one end of the first scissors arm and the second scissors arm being slidingly connected to the first mounting shell, and the other end being drivingly connected to the lifting driving assembly.

[0011] In some possible embodiments, the scissors lifting mechanism comprises:

[0012] a sliding guide provided on the first mounting shell, the sliding guide being provided with a sliding member slidingly fitted with the sliding guide;

[0013] a linear moving member connected to the lifting driving assembly, the linear moving member being mounted on the second mounting shell;

[0014] wherein one end of the first scissors arm and the second scissors arm is hingedly connected to the sliding member, and the other end is hingedly connected to the linear moving member.

[0015] In some possible embodiments, the linear moving member comprises a lead screw, a first nut and a second nut, the lead screw being connected to the lifting driving assembly and provided on the second mounting shell, the first nut being hingedly connected to the first scissors arm of the pair of scissors arms, and the second nut being hingedly connected to the second scissors arm of the pair of scissors arms.

[0016] the lead screw is provided with a first helical line and a second helical line with opposite rotation directions along an axial direction of the lead screw in sequence, the first nut is threadedly connected to the lead screw via the first helical line, and the second nut is threadedly connected to the lead screw via the second helical line.

[0017] In some possible embodiments, the linear moving member further comprises a first fixing member and a second fixing member, the first fixing member being fixedly connected to the first nut and hingedly connected to the first scissors arm, and the second fixing member being fixedly connected to the second nut and hingedly connected to the second scissors arm.

[0018] In some possible embodiments, the lifting assembly further comprises at least one lifting guide for guiding the second mounting shell to move closer to or away from the first mounting shell when the lifting assembly is in action.

[0019] In some possible embodiments, the lifting guide comprises a slidingly fitted guide rod and a guide pin shaft, the guide rod being provided on one of the first mounting shell and the second mounting shell, and the guide pin shaft being located at a hinged point of the pair of scissors arms.

[0020] the guide rod is used for guiding a moving direction of the second mounting shell.

[0021] In some possible implementations, the guide rod is provided with a through guide slot along a moving direction of the guide rod, and the guide pin shaft is arranged in the guide slot and is in sliding fit with the guide slot.

[0022] In some possible implementations, the lifting guide further comprises a guide hole in sliding fit with the guide rod, the guide hole and the guide rod are arranged in the first mounting shell and the second mounting shell respectively, and part of the guide rod can extend into the guide hole and move in sliding fit relative to the guide hole.

[0023] In some possible implementations, the lifting assembly further comprises a third mounting shell, the third mounting shell is located between the first mounting shell and the second mounting shell and is fixedly connected with the second mounting shell, and the shear arm is connected with the first mounting shell and the second mounting shell through the third mounting shell.

[0024] In some possible implementations, one end of the first mounting shell towards the second mounting shell can extend into the third mounting shell.

[0025] In some possible implementations, the lifting guide further comprises a guide groove arranged in interval with the guide hole, the guide groove is protruded on the third mounting shell and is used for passing through at least one of the guide rod and the guide pin shaft.

[0026] In some possible implementations, the lifting driving assembly comprises a coupling and a lifting driving motor, the coupling connects the lifting assembly and the lifting driving motor.

[0027] The lifting driving motor is fixedly mounted on the machine body.

[0028] In the second aspect, the application provides a cleaning host, comprising a machine body and a universal wheel assembly, the universal wheel assembly is any one of the universal wheel assemblies described above; the universal wheel assembly is mounted below the machine body through the lifting device.

[0029] In the third aspect, the application provides a cleaning system, comprising a cleaning base station and the cleaning host described above.

[0030] In the fourth aspect, the application provides a cleaning system, comprising a stair climbing machine and the cleaning host described above.

[0031] Compared with the prior art, the application at least has the following beneficial effects:

[0032] The universal wheel assembly provided by the embodiments of the present application comprises a universal wheel and a lifting device, wherein the lifting device comprises a lifting driving assembly and a lifting assembly, the lifting driving assembly is used to provide power to the lifting assembly to drive the first mounting shell of the lifting assembly to be close to or away from the second mounting shell, so as to control the distance between the universal wheel mounted at the first mounting shell and the machine body mounted with the second mounting shell, so that the universal wheel can be lifted relative to the machine body. Since the universal wheel is always in contact with the ground during the cleaning host machine travels, the lifting of the universal wheel relative to the machine body can change the distance between at least part of the lower surface of the machine body and the ground, so as to increase the ground clearance of the cleaning host machine, thereby improving the obstacle crossing height, obstacle crossing ability and escape ability of the cleaning host machine. The cleaning host machine with the above universal wheel assembly has higher ground environment adaptability and stronger practicability. The cleaning system provided by the embodiments of the present application comprises the above universal wheel assembly, so at least comprises the beneficial effects of any one or more universal wheel assemblies described above, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] Figure 1 Part structure schematic diagram of the cleaning host machine provided by the embodiments of the present application;

[0035] Figure 2 As Figure 1 the bottom view;

[0036] Figure 3 Structure schematic diagram of the universal wheel assembly provided by the embodiments of the present application in the first state;

[0037] Figure 4 As Figure 3 the front view;

[0038] Figure 5 As Figure 3 the sectional view;

[0039] Figure 6 Structure schematic diagram of the universal wheel assembly provided by the embodiments of the present application in the second state;

[0040] Figure 7 As Figure 6 the front view;

[0041] Figure 8 As Figure 6 the sectional view.

[0042] In the drawings:

[0043] 100, cleaning main machine; 10, lifting device; 20, machine body; 30, universal wheel; 40, walking wheel;

[0044] 1, lifting driving assembly; 11, shaft coupling; 12, lifting driving motor; 2, lifting assembly; 21, first mounting shell; 22, second mounting shell; 23, scissor lifting mechanism; 231, sliding guide; 2311, sliding piece; 232, linear moving piece; 2321, lead screw; 2322, first nut; 2323, second nut; 2324, first fixing piece; 2325, second fixing piece; 233, pair of scissor arms; 2331, first scissor arm; 2332, second scissor arm; 24, lifting guide; 241, guide rod; 2411, guide slot; 242, guide pin; 243, guide hole; 244, guide groove; 25, third mounting shell. DETAILED DESCRIPTION

[0045] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0046] It should be noted that when an element is referred to as being "fixed to" or "set to" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0047] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0048] In addition, the terms "first", "second", etc. are used herein only to describe different instances, and do not imply or suggest relative importance or a number of the indicated technical features. Thus, the features defined with "first", "second" can include one or more of the features explicitly or implicitly. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0049] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, can be fixed connection, or detachable connection, or integrated; can be mechanical connection, or electrical connection or communication with each other; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0051] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present description, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present description and the features of different embodiments or examples, without contradiction.

[0052] In the process of cleaning the cleaning host 100 to perform a cleaning task, it is necessary to avoid obstacles or cross obstacles after encountering obstacles. The obstacle crossing height limits the working range and operation reliability of the cleaning host 100. The solution to the obstacle crossing problem in the related art relies on software strategy to solve the problem, and adjusts the angle and speed of the cleaning host 100 approaching the obstacle to improve the obstacle crossing function of the cleaning host 100. The solution is subject to the physical limitations such as the height of the cleaning host 100 from the ground, resulting in limited improvement effect.

[0053] In order to further optimize and improve the obstacle crossing ability of the cleaning host 100, the embodiments of the present application provide a universal wheel assembly, a cleaning host 100 and a cleaning system. The cleaning system can be a floor cleaning device with a cleaning base station and a cleaning host 100, or a floor cleaning device with a stair climbing machine and a cleaning host 100. The cleaning host 100 can be a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc. The cleaning host 100 has a sweeping and / or mopping function. It can be understood that the cleaning host 100 is a device for automatically performing cleaning operations in the corresponding cleaning area in the ground environment. When the cleaning host 100 starts to work, the cleaning host 100 can start from the cleaning base station and perform the corresponding cleaning task. When the cleaning host 100 completes the cleaning task or other conditions that need to suspend the cleaning task, the cleaning host 100 can return to the cleaning base station to perform at least one or more of the tasks such as charging, water replenishment, cleaning, dust collection, etc.

[0054] It can be understood that the stair climbing machine is a device that can climb up and down stairs and carry part of the weight during the climbing process. The stair climbing machine can be a track type structure, or a wheel type structure, or a scissors type lifting structure capable of adjusting the height within a certain range in the related art, etc. When the stair climbing machine starts to work, it can perform the corresponding stair climbing task, and climb and adjust the shape according to the length and number of steps, shape, etc. of the stairs to match different steps until the stair climbing machine completes the stair climbing task.

[0055] Figure 1 The part structure diagram of the cleaning host 100 provided by the embodiments of the present application is shown in the following figure, Figure 2 The bottom view of Figure 1 The bottom view of

[0056] Please refer to Figure 1 and Figure 2 The cleaning host 100 provided by the embodiments of the present application has a sweeping and / or mopping function, and the side (i.e. bottom surface) of the cleaning host 100 facing the ground is provided with a cleaning device for automatically performing cleaning operations in the corresponding cleaning area in the ground environment. The cleaning device can include a mop, a cloth, a sponge, a brush, a roller, a roller brush or an edge brush, etc. which can clean the ground. The embodiments of the present application do not limit this.

[0057] In some embodiments, the bottom surface of the cleaning unit 100 is also equipped with casters 40 and swivel casters 30. (See also...) Figure 2 The wheels 40 are generally located on both sides of the bottom surface of the main body 20. Driven by a motor, they can rotate forward, reverse, and adjust speed, enabling the cleaning unit 100 to move stably on the ground. The casters 30 are located in front of or behind the wheels 40, and work in conjunction with the wheels 40 to assist in supporting and steering the main body 20. The casters 30 can flexibly change direction, making it easier and faster for the cleaning unit 100 to turn and adjust its position.

[0058] This application provides a caster wheel assembly applied to a cleaning host 100. Please refer to... Figure 2 The caster assembly includes casters 30 and lifting device 10. Casters 30 can be installed under the body 20 of the cleaning host 100 via lifting device 10. At this time, lifting device 10 is located between the body 20 of the cleaning host 100 and casters 30.

[0059] The casters 30 are mounted below the main body 20 via the lifting device 10. As the height of the lifting device 10 changes, the distance between the casters 30 and the bottom surface of the cleaning unit 100 also changes and adjusts. When the cleaning unit 100 is moving, the casters 30 are always in contact with the ground; therefore, the distance between the bottom surface of the cleaning unit 100 and the ground changes with the height of the lifting device 10. When the height of the lifting device 10 increases to increase the distance between the bottom surface of the cleaning unit 100 and the ground, at least a portion of the bottom surface of the cleaning unit 100 has increased ground clearance, giving the cleaning unit 100 better obstacle avoidance performance.

[0060] Figure 3 This is a schematic diagram of the omnidirectional wheel assembly provided in the embodiments of this application in its first state. Figure 4 for Figure 3 Front view, Figure 5 for Figure 3 sectional view, Figure 6 This is a schematic diagram of the omnidirectional wheel assembly provided in the embodiments of this application in the second state. Figure 7 for Figure 6 Front view, Figure 8 for Figure 6 A sectional view.

[0061] The structure of the caster wheel 30 has been disclosed in related technologies and will not be described in detail here. The lifting device 10 is installed between the caster wheel 30 and the body 20 to adjust the distance between the caster wheel 30 and the body 20.

[0062] In a feasible implementation, the lifting device 10 can also be applied to other devices with automatic driving capability, such as automatic service robots, etc. At this time, the lifting device 10 can be used to adjust the distance between the robot body and the rotating wheel structure such as the universal wheel at the bottom of the robot body.

[0063] Referring to Figure 3 and Figure 4 , the lifting device 10 comprises a lifting driving assembly 1 and a lifting assembly 2 connected to each other. The lifting assembly 2 has a first mounting shell 21 and a second mounting shell 22 capable of relative movement. The lifting assembly 2 is connected to the lifting driving assembly 1 through the second mounting shell 22 and connected to the universal wheel 30 through the first mounting shell 21. The lifting driving assembly 1 is used to drive the lifting assembly 2 to act, so that the first mounting shell 21 drives the universal wheel 30 to approach or move away from the body 20.

[0064] Specifically, the first mounting shell 21 is connected to the universal wheel 30, and the second mounting shell 22 is connected to the body 20. When the lifting driving assembly 1 is started, it can drive the first mounting shell 21 to approach or move away from the second mounting shell 22, so as to drive the universal wheel 30 to approach or move away from the body 20.

[0065] The lifting driving assembly 1 is installed on the body 20 and connected to the second mounting shell 22, and comprises a coupling 11 and a lifting driving motor 12. The lifting driving motor 12 is fixedly installed on the body 20, and the coupling 11 connects the lifting assembly 2 and the lifting driving motor 12.

[0066] The lifting driving motor 12 is used to output driving force for height adjustment of the lifting assembly 2, and the coupling 11 is used to transmit the force output by the lifting driving motor 12 to the lifting assembly 2. This structure facilitates the control of the action of the lifting assembly 2 and has high transmission efficiency.

[0067] In some feasible implementations, there is an angle between the output shaft axis of the lifting driving motor 12 and the straight line where the power input part axis of the lifting assembly 2 is located. The coupling 11 is one of a universal coupling 11, a flexible coupling 11, etc., so as to satisfy the installation of the lifting driving motor 12 in the body 20 while enabling the lifting driving motor 12 and the lifting assembly 2 to normally transmit through the coupling 11.

[0068] Referring to Figure 3 and Figure 4 , the lifting assembly 2 comprises the first mounting shell 21, the second mounting shell 22, and a scissor lifting mechanism 23. The first mounting shell 21 and the second mounting shell 22 are arranged oppositely, and the scissor lifting mechanism 23 with the height adjustment function is located between the first mounting shell 21 and the second mounting shell 22, and the two ends of the scissor lifting mechanism 23 are connected to the first mounting shell 21 and the second mounting shell 22, respectively.

[0069] Specifically, the lifting driving assembly 1 installed on the machine body 20 is in transmission connection with the scissor lifting mechanism 23.

[0070] In some possible embodiments, the lifting assembly 2 further comprises a third mounting shell 25 located between the first mounting shell 21 and the second mounting shell 22, the third mounting shell 25 being a hollow shell structure with both ends passing through, and the extending direction (for example, the height direction) of the third mounting shell 25 is close to the second mounting shell 22 at one end and is spaced apart from the first mounting shell 21 at the other end. Figure 4

[0071] Please refer to Figure 3 and Figure 5 , the end of the third mounting shell 25 close to the first mounting shell 21 is slightly larger than the first mounting shell 21 in size, and part of the first mounting shell 21 can be inserted into the third mounting shell 25. The scissor lifting mechanism 23 located between the first mounting shell 21 and the second mounting shell 22 penetrates through the third mounting shell 25 and is connected with the first mounting shell 21 and the second mounting shell 22.

[0072] The number of the scissor lifting mechanism 23 can be one or more. When the number of the scissor lifting mechanism 23 is at least two, all the scissor lifting mechanisms 23 can be arranged in sequence along the width direction of the first mounting shell 21 and the second mounting shell 22. Of course, based on the installation space requirement, the number of the scissor lifting mechanism 23 in the embodiment is one.

[0073] Next, the structure of the lifting device 10 in the embodiment of the application will be described in detail with the number of the scissor lifting mechanism 23 being one:

[0074] Please refer to Figure 4 and Figure 5 , the scissor lifting mechanism 23 comprises a sliding guide 231, a sliding piece 2311, a translational actuator 232 and a pair of scissor arms 233, wherein the sliding guide 231 is arranged on the first mounting shell 21, the sliding piece 2311 is in sliding cooperation with the sliding guide 231, the translational actuator 232 is arranged on the second mounting shell 22 and can be actuated under the driving of the lifting driving assembly 1. The pair of scissor arms 233 comprises a first scissor arm 2331 and a second scissor arm 2332 hingedly connected with each other, one end of the first scissor arm 2331 and the second scissor arm 2332 for being connected with the first mounting shell 21 is hingedly connected with the sliding piece 2311, and one end of at least one of the first scissor arm 2331 and the second scissor arm 2332 for being connected with the second mounting shell 22 is hingedly connected with the translational actuator 232.

[0075] When the lifting driving assembly 1 outputs driving force, the translational actuator 232 can generate translational motion under the action of the driving force and drive the scissor arms connected therewith to translate relative to the second mounting shell 22, please refer to Figures 6-8 ​The sliding guide 231 and the sliding member 2311 are in sliding fit, and can slide synchronously with the extension and contraction of the shear arm pair 233, so that the action of the shear arm pair 233 is more complete and reliable.

[0076] Since the first shear arm 2331 and the second shear arm 2332 are hingedly connected to each other, when one of the shear arms moves, the other shear arm hingedly connected to the one shear arm will rotate relatively, and the shear arm pair 233 will gradually deform and gradually expand or contract, and finally the transverse span and vertical height of the shear arm pair 233 will change. Since the two ends of the shear arm pair 233 are connected to the first mounting shell 21 and the second mounting shell 22 through the sliding guide 231 and the translation action member respectively, the change of the shear arm pair 233 will cause the distance between the first mounting shell 21 and the second mounting shell 22 to change, and finally the height of the shear type lifting mechanism 23 will be adjusted.

[0077] Specifically, in order to ensure the stability of the movement, the sizes of the first shear arm 2331 and the second shear arm 2332 can be consistent, and the hinge points of the first shear arm 2331 and the second shear arm 2332 can be arranged at the midpoints of the two shear arms.

[0078] The first shear arm 2331 and the second shear arm 2332 are movably connected through the hinge part, and any one of the shear arms rotates relatively around the hinge point. When the distance between the first mounting shell 21 and the second mounting shell 22 is the smallest, the hingedly connected first shear arm 2331 and the second shear arm 2332 are in a contracted state, please refer to Figure 3 When the external driving force drives the translation action member 232 to move, taking the first shear arm 2331 as an example, the first shear arm 2331 rotates around the hinge point under the pulling of the translation action member 232. Since the first shear arm 2331 and the second shear arm 2332 are hingedly connected to each other, the rotation of the first shear arm 2331 will drive the second shear arm 2332 to rotate around the hinge point correspondingly. In this process, the included angle between the first shear arm 2331 and the second shear arm 2332 and the positions of the end points change. The one end of the first shear arm 2331 translates relative to the second mounting shell 22. Since the second mounting shell 22 is fixed, the one end of the first shear arm 2331 connected to the first mounting shell 21 moves along the circular arc trajectory with the arm length of the first shear arm 2331 as the radius, and drives the one end of the first shear arm 2331 connected to the first mounting shell 21 to slide relative to the first mounting shell 21 and pushes the first mounting shell 21 to move away from the second mounting shell 22. Similarly, the second shear arm 2332 produces a displacement basically opposite to that of the first shear arm 2331. As the translation action member 232 continuously moves to the limit of stroke, the hingedly connected first shear arm 2331 and second shear arm 2332 are in the maximum extension state, please refer to Figure 6 At this time, the first shear arm 2331 and the second shear arm 2332 are hingedly connected and form an X-shaped shear arm pair 233.

[0079] It should be noted that the first shear arm 2331 and the second shear arm 2332 can be the same or different. In the shear arm pair 233 provided in the embodiments of the present application, it is only required that the first shear arm 2331 and the second shear arm 2332 have the same length and are connected through the hinge at the middle point.

[0080] The first shear arm 2331 and the second shear arm 2332 connected through the hinge can be connected to any one of the first mounting shell 21 and the second mounting shell 22 to form a triangular stable structure. The triangular stable structure can realize the adjustment of the distance between the first mounting shell 21 and the second mounting shell 22, and can also realize the uniform distribution of the load through the hinge point, thereby improving the load bearing capacity of the lifting device 10 to a certain extent and making the relative movement of the first shear arm 2331 and the second shear arm 2332 more stable and reliable.

[0081] In some possible embodiments, the sliding guide 231 can be a guide rail, and the sliding member 2311 can be a sliding block matched with the shape and size of the guide rail. The number of the sliding blocks is two, and the sliding blocks are respectively connected to the end of the first shear arm 2331 and the second shear arm 2332 in the shear arm pair 233 through the hinge. Please refer to Figure 6 and Figure 8 .

[0082] In some embodiments, the guide rail can be a dovetail groove-shaped rail with a cross section similar to an inverted trapezoid, and the sliding block matched with the guide rail can be a dovetail block structure. The sliding block can be tightly embedded in the dovetail groove and can slide along the axial direction of the guide rail more stably.

[0083] In other similar embodiments, the guide rail can also be a cylindrical structure, and the sliding block can be a structure with a cylindrical hole or a semicircular groove. The sliding block is in sliding cooperation with the guide rail.

[0084] Please refer to Figure 4 and Figure 5 When the first mounting shell 21 partially extends into the third mounting shell 25, at least part of the two ends of the guide rail formed on the first mounting shell 21 is located in the third mounting shell 25 and is blocked by the third mounting shell 25, so as to limit the sliding block and avoid the disengagement of the sliding block from the guide rail.

[0085] Of course, in other similar embodiments, a plug or other similar structure can be arranged at the two ends of the guide rail in the axial direction to close the guide rail.

[0086] Please refer to Figure 8The linear motion actuator 232 is connected with the coupling 11 in the lifting drive assembly 1, and is used to convert the rotational driving force output at the coupling 11 into a linear driving force, so as to drive the end of at least one of the first shear arm 2331 and the second shear arm 2332 to translate relative to the second mounting shell 22.

[0087] In some possible embodiments, the linear motion actuator 232 includes a lead screw 2321, a first nut 2322 and a second nut 2323. The lead screw 2321 is drivingly connected with the coupling 11 in the lifting drive assembly 1 and is arranged on the second mounting shell 22. The first nut 2322 is hingedly connected with the first shear arm 2331 in the shear arm pair 233. The second nut 2323 is hingedly connected with the second shear arm 2332 in the shear arm pair 233.

[0088] The lead screw 2321 is a bidirectional lead screw 2321, which has a first helical line and a second helical line with opposite rotation directions arranged in sequence in the axial direction. The first nut 2322 is threadedly connected with the lead screw 2321 via the first helical line. The second nut 2323 is threadedly connected with the lead screw 2321 via the second helical line. When the lead screw 2321 rotates, the first nut 2322 and the second nut 2323 connected with the lead screw 2321 can convert the rotational motion of the lead screw 2321 into a linear driving force and drive the first shear arm 2331 and the second shear arm 2332 to move in opposite directions along the axial direction of the lead screw 2321, so as to realize the extension and folding of the shear arm pair 233.

[0089] Please refer to Figure 5 and Figure 8 The linear motion actuator further includes a first fixing member 2324 and a second fixing member 2325. The first fixing member 2324 is fixedly connected with the first nut 2322 and is hingedly connected with the first shear arm 2331. The second fixing member 2325 is fixedly connected with the second nut 2323 and is hingedly connected with the second shear arm 2332.

[0090] When the first nut 2322 and the second nut 2323 translate along the axial direction of the lead screw, the first fixing member 2324 and the second fixing member 2325 are driven to move synchronously, and in this process, the first shear arm 2331 and the second shear arm 2332 hingedly connected therewith are driven to move synchronously.

[0091] Specifically, when the lifting driving motor 12 rotates forward, the shaft coupling 11 can drive the screw rod 2321 to rotate forward. At this time, the first nut 2322 connected with the first fixing member 2324 moves linearly along the axial direction of the screw rod towards the middle part of the screw rod under the limiting action of the first fixing member 2324. Similarly, the second nut 2323 connected with the second fixing member 2325 also moves linearly towards the middle part of the screw rod. The first nut 2322 and the second nut 2323 move towards each other and gradually approach each other. The first shear arm 2331 and the second shear arm 2332 which are hingedly connected move under the driving of the first nut 2322 and the second nut 2323, and the two sliding members 2311 move along the sliding guide 231 and gradually approach each other. The first mounting shell 21 on which the universal wheel 30 is mounted moves towards the side away from the machine body 20. At this time, the lifting assembly 2 gradually adjusts from the state shown in Figure 3 to the state shown in Figure 6 . When the lifting driving motor 12 rotates reversely, the shaft coupling 11 can drive the screw rod 2321 to rotate reversely. The first nut 2322 connected with the first fixing member 2324 moves linearly along the axial direction of the screw rod towards the end part of the screw rod. Similarly, the second nut 2323 connected with the second fixing member 2325 also moves linearly towards the end part of the screw rod. The first nut 2322 and the second nut 2323 gradually move away from each other. The first shear arm 2331 and the second shear arm 2332 which are hingedly connected move under the driving of the first nut 2322 and the second nut 2323, and the two sliding members 2311 move along the sliding guide 231 and gradually move away from each other. The first mounting shell 21 on which the universal wheel 30 is mounted moves towards the side close to the machine body 20 and is retracted. At this time, the lifting assembly 2 gradually adjusts from the state shown in Figure 6 to the state shown in Figure 3 .

[0092] The range of height adjustment that can be achieved by the lifting device 10 can be 8cm-15cm, for example, 8cm, 9cm, 10cm, 11cm, 12cm, 13cm, 14cm, 15cm, etc.

[0093] Considering that the first shear arm 2331 and the second shear arm 2332 may move synchronously, the first mounting shell 21 and the second mounting shell 22 may produce relative deviation in the horizontal direction. To overcome the above problem, in some feasible embodiments, the lifting assembly 2 further comprises at least one lifting guide 24. The lifting guide 24 is used to guide the second mounting shell 22 to move close to or away from the first mounting shell 21 in a fixed direction when the lifting assembly 2 is in action.

[0094] Please refer to Figure 3 and Figure 6 . The fixed direction refers to the length direction of the lifting guide 24 shown in the figure, i.e. the vertical direction shown in the figure.

[0095] The lifting guide 24 mainly comprises a guide rod 241 and a guide pin 242, and the axis of the guide pin 242 coincides with the axis of the hinge joint of the first shear arm 2331 and the second shear arm 2332. The guide pin 242 can be arranged to realize the hinge joint of the first shear arm 2331 and the second shear arm 2332, or the guide pin 242 can be arranged outside the hinge joint formed by the hinge axes of the first shear arm 2331 and the second shear arm 2332. The guide rod 241 is arranged on one of the first mounting shell 21 and the second mounting shell 22, and the guide pin 242 is in sliding fit with the guide rod 241 to guide the relative movement direction of the first mounting shell 21 and the second mounting shell 22, and can also limit the movement path of the first mounting shell 21 relative to the second mounting shell 22 to avoid the first mounting shell 21 exceeding the movement path limit.

[0096] When the number of the lifting guide 24 is one, the lifting guide 24 can be arranged on one side of the first mounting shell 21 or the second mounting shell 22 close to the hinge joint of the shear arm pair 233. When the number of the lifting guide 24 is two, the lifting guides 24 can be arranged on both sides of the first mounting shell 21 or the second mounting shell 22 close to the hinge joint of the shear arm pair 233 in the axial direction.

[0097] In some possible embodiments, the guide rod 241 is formed on the first mounting shell 21 and extends towards the position of the second mounting shell 22, please refer to Figure 4 and Figure 7 .

[0098] In some examples, the guide rod 241 has a flat plate structure with a certain thickness. This structure helps to reduce the size of the lifting assembly in the thickness direction and reduce the space occupied by the lifting assembly when installed on the machine body 20, which helps to optimize the size of the machine body 20 and further reduce the size of the machine body 20.

[0099] In order to better realize the sliding fit of the guide rod 241 and the guide pin 242, in some possible embodiments, the surface of the part of the guide rod 241 towards the guide pin 242 can be recessed inward and form a groove capable of guiding the movement direction of the guide pin 242, and the length direction of the groove is the same as the length direction of the guide rod 241 and consistent with the designed movement path of the guide pin 242.

[0100] Alternatively, in other similar embodiments, the guide rod 241 can be provided with a guide slot 2411 consistent with the designed movement path of the guide pin 242, and the guide pin 242 passes through the guide slot 2411 to connect with the guide rod 241 and realize the sliding fit with the guide rod 241.

[0101] Please refer to Figure 3 , Figure 4 and Figure 7 , the guide pin shaft 242 is in contact with the lower end surface of the guide slot 2411 when the universal wheel assembly is in the first state; the guide pin shaft 242 is in contact with the upper end surface of the guide slot 2411 when the universal wheel assembly is in the second state.

[0102] Please refer to Figure 3 and Figure 4 , when the distance between the first mounting shell 21 and the second mounting shell 22 is the smallest, at least part of the structure of the guide rod 241 formed on the first mounting shell 21 will extend into the second mounting shell 22.

[0103] In order to reduce the occupation of the second mounting shell 22 to the installation space in the body 20 as much as possible, reduce the size of the second mounting shell 22, and overcome the interference problem between the second mounting shell 22 and the guide rod 241, in some embodiments, a guide hole 243 is arranged in the second mounting shell 22 at a position opposite to the guide rod 241. The guide hole 243 can be in sliding fit with the guide rod 241.

[0104] As the shape of the shear arm pair 233 changes, the first mounting shell 21 gradually approaches the second mounting shell 22, the guide rod 241 arranged on the first mounting shell 21 can partially extend into the second mounting shell 22 and slide relative to the second mounting shell 22 through the guide hole 243.

[0105] Please refer to Figure 3 and Figure 6 , in order to avoid the third mounting shell 25 between the first mounting shell 21 and the second mounting shell 22 affecting the normal movement of the guide rod 241, and to reduce the size of the third mounting shell 25 as much as possible to reduce the occupation of the lifting device 10 to the installation space of the body 20 to a certain extent, in some feasible embodiments, the inner side wall of the third mounting shell 25 can be protruded outward and form a guide groove 244 at a position corresponding to the guide rod 241. The guide groove 244 and the guide hole 243 are arranged opposite to each other on the movement path of the first mounting shell 21.

[0106] With the movement of the first mounting shell 21, the guide rod 241 arranged on the first mounting shell 21 can slide relative to the guide hole 243 and the guide groove 244. In this process, the guide pin shaft 242 slides relative to the guide rod 241 and passes through the guide groove 244 arranged on the third mounting shell 25.

[0107] When the above-mentioned universal wheel assembly is installed on the cleaning host 100, the cleaning host 100 with the universal wheel assembly can control the state of the lifting device 10 according to the situation of the ground to be traveled, so as to change the distance between the universal wheel 30 and the body 20. Since the universal wheel 30 is always in contact with the ground, when the state of the lifting device 10 changes, the ground clearance of the corresponding bottom surface of the body 20 on which the lifting device 10 is installed changes. When the above-mentioned height is greater than the height of the obstacle, the cleaning host 100 can avoid interference with the obstacle during the obstacle crossing process at this time, better protect the bottom surface, and avoid the bottom surface from being scratched, worn, and the like. In addition, the above-mentioned adjustment can also make the bottom surface of the body 20 and the bottom surface form a certain inclination angle, have the effect of changing the relative position between the obstacle and the cleaning host 100 and the center of gravity of the cleaning host 100, help to improve the ability of the cleaning host 100 to cross the threshold and the like obstacles, and can further adjust and optimize the obstacle crossing mode of the cleaning host 100, help to improve the escape ability of the cleaning host 100 and the adaptability to the ground with a certain height difference, so that the cleaning host 100 has more rich application scenarios and better practicability.

[0108] The above-mentioned universal wheel assembly can also improve the climbing ability of the cleaning host 100, and accordingly, the adaptability of the cleaning host 100 to the cleaning base station can also be improved, and the cleaning host 100 can be applied to a cleaning base station with a higher height and a slope plate. When the cleaning host 100 needs to return to the cleaning base station, the universal wheel assembly with the lifting device 10 can help to improve the slope adaptability and stability of the cleaning host 100 to the slope plate of the cleaning base station, so that the cleaning host 100 can climb the slope plate with a relatively steep slope, and can be more accurately aligned with the slope plate and smoothly enter the cleaning base station during the climbing process.

[0109] In other similar embodiments, the walking wheel 40 of the cleaning host 100 can also be provided with a lifting function. The walking wheel 40 which can be lifted and moved relative to the body 20 of the cleaning host 100 cooperates with the universal wheel 30 to effectively adjust the ground clearance of the bottom surface of the body 20 of the cleaning host 100, further increase the ground clearance of the cleaning host 100, and improve the obstacle avoidance ability and the adaptability to the ground of the cleaning host 100.

[0110] The above description of the various embodiments tends to emphasize the differences between the various embodiments, and the same or similar parts can be referred to each other, and for the sake of brevity, the details are not described herein.

[0111] The above only describes the preferred embodiments of the present application, and is not used to limit the present application, and any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A universal wheel assembly, characterized in that, Applied to a cleaning host (100), the caster assembly includes casters (30) and a lifting device (10), and the casters (30) are mounted below the body (20) of the cleaning host (100) via the lifting device (10); The lifting device (10) includes a lifting drive assembly (1) and a lifting assembly (2). The lifting assembly (2) has a first mounting shell (21) and a second mounting shell (22) that are movable relative to each other. The first mounting shell (21) is connected to the caster wheel (30), and the second mounting shell (22) is connected to the body (20). The lifting drive assembly (1) is mounted on the second mounting shell (22) and is used to drive the lifting assembly (2) to move so that the first mounting shell (21) drives the caster wheel (30) to move closer to or away from the body (20).

2. The universal wheel assembly according to claim 1, characterized in that, The lifting assembly (2) further includes a scissor lifting mechanism (23), the two ends of which are respectively connected to the first mounting shell (21) and the second mounting shell (22), and the lifting drive assembly (1) is connected to the scissor lifting mechanism (23) in a transmission connection.

3. The universal wheel assembly according to claim 2, characterized in that, The scissor lifting mechanism (23) includes: A pair of scissor arms (233) is connected between the first mounting housing (21) and the second mounting housing (22). The pair of scissor arms (233) includes a first scissor arm (2331) and a second scissor arm (2332) that are hinged to each other. One end of the first scissor arm (2331) and the second scissor arm (2332) is slidably connected to the first mounting housing (21), and the other end is drivenly connected to the lifting drive assembly (1).

4. The universal wheel assembly according to claim 3, characterized in that, The scissor lifting mechanism (23) includes: A sliding guide (231) is disposed on the first mounting shell (21). The sliding guide (231) is provided with a sliding member (2311), and the sliding member (2311) is slidably engaged with the sliding guide (231). A translational actuator (232) is connected to the lifting drive assembly (1), and the translational actuator (232) is mounted on the second mounting housing (22); One end of the first scissor arm (2331) and the second scissor arm (2332) are hinged to the sliding member (2311), and the other end is hinged to the translational actuator (232).

5. The universal wheel assembly according to claim 4, characterized in that, The translational actuator (232) includes a lead screw (2321), a first nut (2322), and a second nut (2323). The lead screw (2321) is connected to the lifting drive assembly (1) and is disposed on the second mounting housing (22). The first nut (2322) is hinged to the first scissor arm (2331) in the scissor arm pair (233), and the second nut (2323) is hinged to the second scissor arm (2332) in the scissor arm pair (233). The lead screw (2321) is provided with a first helix and a second helix with opposite directions of rotation along its axial direction. The first nut (2322) is threadedly connected to the lead screw (2321) via the first helix, and the second nut (2323) is threadedly connected to the lead screw (2321) via the second helix.

6. The universal wheel assembly according to claim 5, characterized in that, The translational actuator (232) further includes a first fixing member (2324) and a second fixing member (2325). The first fixing member (2324) is fixedly connected to the first nut (2322) and hinged to the first scissor arm (2331). The second fixing member (2325) is fixedly connected to the second nut (2323) and hinged to the second scissor arm (2332).

7. The universal wheel assembly according to claim 3, characterized in that, The lifting assembly (2) further includes at least one lifting guide (24) for guiding the second mounting shell (22) to move closer to or further away from the first mounting shell (21) when the lifting assembly (2) is activated.

8. The caster assembly according to claim 7, characterized in that, The lifting guide (24) includes a slidingly fitted guide rod (241) and a guide pin (242). The guide rod (241) is disposed in one of the first mounting shell (21) and the second mounting shell (22), and the guide pin (242) is located at the hinge point of the scissor arm pair (233). The guide rod (241) is used to guide the movement direction of the second mounting shell (22).

9. The universal wheel assembly according to claim 8, characterized in that, The guide rod (241) has a through guide groove (2411) along its moving direction, and the guide pin (242) passes through the guide groove (2411) and slides with the guide groove (2411).

10. The caster assembly according to claim 8, characterized in that, The lifting guide (24) further includes a guide through hole (243) that slides with the guide rod (241). The guide through hole (243) and the guide rod (241) are respectively arranged in the first mounting shell (21) and the second mounting shell (22). Part of the guide rod (241) can extend into the guide through hole (243) and slide relative to the guide through hole (243).

11. The universal wheel assembly according to claim 10, characterized in that, The lifting assembly (2) further includes a third mounting shell (25), which is located between the first mounting shell (21) and the second mounting shell (22) and is fixedly connected to the second mounting shell (22). The shear arm pair (233) passes through the third mounting shell (25) and is connected to the first mounting shell (21) and the second mounting shell (22).

12. The caster assembly according to claim 11, characterized in that, The end of the first mounting shell (21) facing the second mounting shell (22) can extend into the third mounting shell (25); And / or, the lifting guide (24) further includes a guide groove (244) spaced apart from the guide through hole (243), the guide groove (244) protruding on the third mounting shell (25) for at least one of the guide rod (241) and the guide pin (242) to pass through.

13. The caster assembly according to any one of claims 1-12, characterized in that, The lifting drive assembly (1) includes a coupling (11) and a lifting drive motor (12), wherein the coupling (11) connects the lifting assembly (2) and the lifting drive motor (12); The lifting drive motor (12) is fixedly installed on the machine body (20).

14. A cleaning host, characterized in that, include: Body (20); The caster assembly, which is the caster assembly according to any one of claims 1-13, is installed below the body (20) via the lifting device (10).

15. A cleaning system, characterized in that, It includes a cleaning base station and a cleaning host (100) as described in claim 13.

16. A cleaning system, characterized in that, Includes a stair climber and a cleaning unit (100) as described in claim 13.

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