Cleaning robot

Abstract

The utility model relates to the field of cleaning equipment, and provides a cleaning robot which comprises a robot body and a driving wheel assembly arranged at the bottom of the robot body, the driving wheel assembly comprises a first driving wheel and a second driving wheel, the cleaning robot can be switched between an advancing state and an obstacle crossing state, and in the obstacle crossing state, the robot body is driven by the first driving wheel and the second driving wheel. The first driving wheel is located on the front side of the second driving wheel in the advancing direction, the lowest point of the first driving wheel is higher than the lowest point of the second driving wheel, and the first driving wheel and the second driving wheel can make contact with each other in sequence and climb on an obstacle to achieve obstacle crossing. According to the technical scheme, the cleaning robot can increase the height of the robot body in a segmented mode through the two driving wheels, so that segmented obstacle crossing is achieved, the maximum obstacle crossing height is increased, and convenience is improved.

Description

TECHNICAL FIELD

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

[0002] The cleaning robot can clean and recycle stains on the surface to be cleaned, greatly liberating the user's hands and bringing great convenience to people.

[0003] In the process of use, there are inevitably high obstacles, such as steps, on the surface to be cleaned where the cleaning robot is located, which requires the cleaning robot to climb over the obstacles to ensure more comprehensive cleaning of the surface to be cleaned.

[0004] CN222398168U discloses a cleaning robot, which includes a driving wheel, a support unit connected to the driving wheel, and an obstacle wheel arranged on the support unit. When it is necessary to climb over an obstacle, the support unit can rotate relative to the driving wheel, so that the obstacle wheel is supported on the surface to be cleaned, and the driving wheel is lifted under the support of the support unit and the obstacle wheel. Therefore, the driving wheel can climb over the obstacle. However, in this solution, the height of the obstacle depends on the height of the driving wheel, and due to the limited lifting height of the driving wheel and the angle limitation between the body and the obstacle, the obstacle climbing ability is still insufficient. For example, when trying to cross an obstacle of more than 6 cm, the success rate will be significantly reduced. UTILITARIAN CONTENT

[0005] One of the technical problems solved by the present solution is that the obstacle climbing ability of the cleaning robot in the prior art is insufficient.

[0006] To solve the above technical problems, the present solution provides a cleaning robot, which includes a body, a driving wheel assembly arranged at the bottom of the body, the driving wheel assembly including a first driving wheel and a second driving wheel, the cleaning robot being capable of converting between a traveling state and an obstacle climbing state, in the obstacle climbing state, the first driving wheel is located at the front side of the second driving wheel in the traveling direction, and the lowest point of the first driving wheel is higher than the lowest point of the second driving wheel, the first driving wheel and the second driving wheel can contact and climb on the obstacle in sequence to realize obstacle climbing.

[0007] In some embodiments, the second driving wheel is capable of moving relative to the body between a first position corresponding to the traveling state and a second position corresponding to the obstacle climbing state, the distance between the lowest point of the second driving wheel in the first position and the bottom surface of the body is less than the distance between the lowest point of the second driving wheel in the second position and the bottom surface of the body.

[0008] In some embodiments, in the second position, the second driving wheel is completely located outside the body.

[0009] In some embodiments, the first driving wheel is movable relative to the body between a third position corresponding to the traveling state and a fourth position corresponding to the obstacle-crossing state, in the third position, the first driving wheel is completely located inside the body, in the fourth position, the first driving wheel is partially extended from the body.

[0010] In some embodiments, the driving wheel assembly further comprises a support base arranged on the body, and a lifting mechanism, the first driving wheel and the second driving wheel are arranged on the support base, the lifting mechanism is capable of driving the support base to move to switch between the traveling state and the obstacle-crossing state.

[0011] In some embodiments, one end of the support base is rotatably hinged to the body, and the lifting mechanism is capable of driving the support base to rotate relative to the body.

[0012] In some embodiments, a driving mechanism is further included, the first driving wheel and the second driving wheel are drivingly connected through a transmission mechanism, and the driving mechanism is drivingly connected to the first driving wheel or the second driving wheel to drive the first driving wheel and the second driving wheel.

[0013] In some embodiments, in a transverse direction perpendicular to the traveling direction, the first driving wheel is located on one side of the second driving wheel.

[0014] In some embodiments, an outer diameter of the first driving wheel is smaller than an outer diameter of the second driving wheel.

[0015] In some embodiments, a universal wheel arranged at a bottom of a front end of the body is further included, the universal wheel is movable between a fifth position corresponding to the traveling state and a sixth position corresponding to the obstacle-crossing state, in the fifth position, the universal wheel is at least partially located outside the body, in the sixth position, the universal wheel is completely located inside the body.

[0016] In some embodiments, a support wheel located at a bottom of a rear end of the body is further included.

[0017] Through the above technical solutions, the cleaning robot can segmentally lift the body height through the two driving wheels, so as to realize segmented obstacle crossing, improve the maximum obstacle-crossing height, and increase the convenience. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings that need to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 is a structural schematic diagram of a cleaning robot in a traveling state according to an embodiment of the present application;

[0020] Figure 2 is a structural schematic diagram of a cleaning robot in an obstacle crossing state according to an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of a cleaning robot crossing an obstacle according to an embodiment of the present application, wherein a first driving wheel contacts the obstacle;

[0022] Figure 4 is a schematic diagram of a cleaning robot crossing an obstacle according to an embodiment of the present application, wherein a second driving wheel contacts the obstacle.

[0023] Legend of reference signs:

[0024] 10 - body, 20 - driving wheel assembly, 21 - first driving wheel, 22 - second driving wheel, 23 - support base, 24 - lifting mechanism, 25 - transmission mechanism, 30 - universal wheel, 40 - support wheel. DETAILED DESCRIPTION

[0025] The embodiments of the present application will be further described in detail with reference to the accompanying drawings and embodiments. The detailed description and drawings of the following embodiments are used to illustrate the principles of the present application, but cannot be used to limit the scope of the present application, and the present application can be implemented in many different forms, not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

[0026] The present application provides these embodiments in order to make the present application thorough and complete, and fully express the scope of the present application to those skilled in the art. It should be noted that: unless otherwise specified, the relative arrangement of components and steps, the composition of materials, numerical expressions and values set forth in these embodiments should be interpreted as merely exemplary, and not as a limitation.

[0027] It should be noted that in the description of the present scheme, unless otherwise specified, the meaning of "a plurality of" is greater than or equal to two; The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer" and the like is only for the convenience of describing the present scheme and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation to the present scheme. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0028] In addition, "first", "second", and similar words used in the present scheme do not represent any order, quantity or importance, but are only used to distinguish different parts. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. "Include" or "contain" and similar words mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements.

[0029] It should also be noted that in the description of the present scheme, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; It can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present scheme can be understood according to the specific circumstances. When it is described that a specific device is located between a first device and a second device, there can be an intermediate device between the specific device and the first device or the second device, or there can be no intermediate device.

[0030] All terms used in the present scheme have the same meaning as understood by those skilled in the art to which the present scheme belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted to have meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or excessively formalized sense, unless otherwise defined herein.

[0031] Techniques, methods and devices known to those skilled in the relevant art can not be discussed in detail, but in appropriate cases, the techniques, methods and devices should be considered as part of the specification.

[0032] Reference Figure 1 and Figure 2As shown, this solution provides a cleaning robot, which includes a body 10 and a drive wheel assembly 20 disposed at the bottom of the body 10. The drive wheel assembly 20 includes a first drive wheel 21 and a second drive wheel 22. The cleaning robot can switch between a traveling state and an obstacle-crossing state. In the obstacle-crossing state, the first drive wheel 21 is located in front of the second drive wheel 22 along the traveling direction, and the lowest point of the first drive wheel 21 is higher than the lowest point of the second drive wheel 22. The first drive wheel 21 and the second drive wheel 22 can contact and climb the obstacle in turn to achieve obstacle crossing.

[0033] The bottom of the cleaning robot body 10 can be equipped with side brushes, cloths, rollers, suction ports, etc., which can be used to clean surfaces with dirt.

[0034] In motion mode, the cleaning robot can travel on a generally flat surface; in obstacle-crossing mode, the cleaning robot can climb and cross obstacles that protrude from the flat surface.

[0035] Among them, reference Figure 2 As shown, in obstacle-crossing mode, the lowest point of the first drive wheel 21 is higher than the lowest point of the second drive wheel 22. The first drive wheel 21 can contact the obstacle and climb onto it first. Then, the second drive wheel 22 contacts the obstacle and climbs onto it. The second drive wheel 22 continues to drive the cleaning robot forward, thus enabling it to cross the obstacle.

[0036] Among them, the first drive wheel 21 and the second drive wheel 22 are both drive wheels that can drive the body to move on the support surface.

[0037] It can be seen that the obstacle-crossing process of the cleaning robot in this solution is divided into two stages. In the first stage, refer to Figure 3 The front end of the fuselage 10 can be raised by the interaction between the first drive wheel 21 and obstacle A. In the second stage, refer to Figure 4 The front end of the robot body 10 can be raised again through the interaction between the second drive wheel 22 and the obstacle. In other words, the robot body can be raised twice using only two drive wheels. Therefore, compared to existing technologies that raise the robot body only once using only one drive wheel, this solution raises the robot body twice, increasing the overall height and thus improving obstacle-crossing ability. For example, this solution allows the cleaning robot to cross obstacles 6-8cm high, significantly improving the obstacle-crossing success rate compared to existing technologies.

[0038] In this solution, the cleaning robot uses its two drive wheels to step over obstacles in stages, achieving segmented obstacle crossing, which increases the maximum obstacle crossing height and improves convenience.

[0039] In some embodiments, the second driving wheel 22 is movable relative to the body 10 between a first position corresponding to the traveling state and a second position corresponding to the obstacle-crossing state, and the distance between the lowest point of the second driving wheel 22 in the first position and the bottom surface of the body 10 is less than the distance between the lowest point of the second driving wheel 22 in the second position and the bottom surface of the body 10. The lowest point of the second driving wheel 22 is located outside the body 10, and the second driving wheel 22 can support the body 10 and drive the body 10 to travel. The lowest point of the second driving wheel 22 in the second position is lower than the lowest point in the first position, that is, compared with the traveling state, in the obstacle-crossing state, the second driving wheel 22 extends downward from the body 10, which can raise the height of the body 10 to improve the maximum obstacle-crossing height.

[0040] In some embodiments, in the second position, the second driving wheel 22 is completely located outside the body 10. In order to raise the height of the front end of the body 10 in the obstacle-crossing state, the second driving wheel 22 can be completely moved outside the body 10. Of course, in other embodiments, the second driving wheel 22 in the second position can also be partially located outside the body 10. Figure 2

[0041] In some embodiments, the first driving wheel 21 is movable relative to the body 10 between a third position corresponding to the traveling state and a fourth position corresponding to the obstacle-crossing state, in the third position, the first driving wheel 21 is completely located inside the body 10, and in the fourth position, the first driving wheel 21 is partially extended from the body 10. It can be understood that the second driving wheel 22 is the main driving wheel of the cleaning robot, which is used for traveling and obstacle-crossing, and the first driving wheel 21 is mainly used for obstacle-crossing, so in the traveling state, the first driving wheel 21 is moved to the third position, that is, hidden inside the body 10, to avoid collision with other structures, and in the obstacle-crossing state, the first driving wheel 21 is moved to the fourth position, that is, partially extended outside the body 10, so as to be in contact with the obstacle to realize obstacle-crossing.

[0042] ​In addition, in some embodiments, the driving wheel assembly 20 further comprises a support base 23 arranged on the body 10, and a lifting mechanism 24, the first driving wheel 21 and the second driving wheel 22 are arranged on the support base 23, and the lifting mechanism 24 can drive the support base 23 to move to switch between the traveling state and the obstacle crossing state. The first driving wheel 21 and the second driving wheel 22 are both mounted on the support base 23, and the support base 23 can be driven to move by the lifting mechanism 24, so that the first driving wheel 21 and the second driving wheel 22 move together, realizing the switching of the cleaning robot between the traveling state and the obstacle crossing state. Of course, in other embodiments, different lifting mechanisms can be used to drive the first driving wheel 21 and the second driving wheel 22 respectively.

[0043] In some embodiments, one end of the support base 23 is rotatably hinged to the body 10, and the lifting mechanism 24 can drive the support base 23 to rotate relative to the body 10. The support base 23 can be formed in a strip shape and extend in the front-rear direction, and the front end thereof can be hinged to the body 10, and the lifting mechanism 24 can drive the rear end thereof to move up and down, when the rear end of the support base 23 is driven to descend, the first driving wheel 21 and the second driving wheel 22 can be lowered to switch to the obstacle crossing state, and then when the rear end of the support base 23 is driven to ascend, the first driving wheel 21 and the second driving wheel 22 can be raised to switch to the traveling state.

[0044] In addition, the cleaning robot further comprises a driving mechanism, the first driving wheel 21 and the second driving wheel 22 are drivingly connected through a transmission mechanism 25, and the driving mechanism is drivingly connected to the first driving wheel 21 or the second driving wheel 22 to drive the first driving wheel 21 and the second driving wheel 22. The driving mechanism can include a motor, a hydraulic motor, etc. torque output member, which is drivingly connected to one of the first driving wheel 21 and the second driving wheel 22, and drives the other one through the transmission mechanism 25. Among them, the second driving wheel 22 is the main driving wheel, and the driving mechanism can be drivingly connected to the second driving wheel 22, for example, drivingly connected to the second driving wheel 22 through a transmission member. The transmission mechanism 25 can be a gear transmission mechanism, which can include a plurality of gears meshing in sequence to realize the driving connection of the first driving wheel 21 and the second driving wheel 22, of course, the transmission mechanism 25 can also be in the form of chain transmission, belt transmission, etc.

[0045] The first driving wheel 21 is located on one side of the second driving wheel 22 in the transverse direction perpendicular to the advancing direction. That is, in the advancing direction, the first driving wheel 21 and the second driving wheel 22 are not aligned, and the first driving wheel 21 can be located on the inner side or the outer side of the second driving wheel 22. The central axis of the first driving wheel 21 is substantially parallel to the central axis of the second driving wheel 22, and the projection of the first driving wheel 21 and the projection of the second driving wheel 22 can partially overlap in the axial direction. Such a position setting can make the second driving wheel 22 closer to the obstacle after the first driving wheel 21 climbs over the obstacle, so as to achieve further obstacle crossing.

[0046] In some embodiments, the outer diameter of the first driving wheel 21 is smaller than the outer diameter of the second driving wheel 22. The second driving wheel 22 is used for advancing in the advancing state, and the first driving wheel 21 is mainly used for obstacle crossing. Therefore, the first driving wheel 21 can be set to a smaller size, that is, to reduce the occupied space as much as possible under the condition of being able to realize the first obstacle crossing, especially the space occupied in the inside of the body 10 when hidden in the body 10.

[0047] In addition, the cleaning robot comprises two driving wheel assemblies spaced apart in the transverse direction.

[0048] In addition, in some embodiments, the cleaning robot further comprises a universal wheel 30 arranged at the bottom of the front end of the body 10, which can move between a fifth position corresponding to the advancing state and a sixth position corresponding to the obstacle crossing state. In the fifth position, the universal wheel 30 is at least partially located outside the body 10, and in the sixth position, the universal wheel 30 is completely located inside the body 10. In the advancing state, the universal wheel 30 at least partially extends from the body 10 to support on the support surface, and can be steered relative to the body 10, so as to change the overall advancing direction. In the obstacle crossing state, the universal wheel 30 is completely retracted into the body 10 to avoid contact and collision with the obstacle and to avoid negative impact on the obstacle crossing height.

[0049] In addition, in some embodiments, the cleaning robot further comprises a support wheel 40 located at the bottom of the rear end of the body 10. The support wheel 40 is rotatably mounted at the rear end of the body 10 and can serve as a support for the rear of the body 10. In the traveling state, the body 10 can be supported by the universal wheel 30, the second driving wheel 22 and the support wheel 40. In the obstacle-crossing state, the second driving wheel 22 is extended outward relative to the body 10, and the body 10 is supported on the flat surface by the second driving wheel 22 and the support wheel 40, so that the front end of the body 10 is lifted, the angle between the bottom surface of the body 10 and the flat surface on which the body 10 is located is increased, and the bottom surface of the front end of the body 10 is higher than the obstacle, which can allow the front end of the body 10 to move to the upper side of the obstacle, thus preparing for obstacle crossing.

[0050] So far, the embodiments of the present application have been described in detail. In order to avoid obscuring the concept of the present application, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0051] Although some specific embodiments of the present application have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration and are not intended to limit the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be replaced equivalently without departing from the scope and spirit of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way.

Claims

1. A cleaning robot, characterized in that, The robot includes a body (10) and a drive wheel assembly (20) located at the bottom of the body (10). The drive wheel assembly (20) includes a first drive wheel (21) and a second drive wheel (22). The cleaning robot can switch between a traveling state and an obstacle-crossing state. In the obstacle-crossing state, the first drive wheel (21) is located in front of the second drive wheel (22) along the traveling direction, and the lowest point of the first drive wheel (21) is higher than the lowest point of the second drive wheel (22). The first drive wheel (21) and the second drive wheel (22) can contact and climb the obstacle in turn to achieve obstacle crossing.

2. The cleaning robot according to claim 1, characterized in that, The second drive wheel (22) is movable relative to the fuselage (10) between a first position corresponding to the traveling state and a second position corresponding to the obstacle crossing state. The distance between the lowest point of the second drive wheel (22) in the first position and the bottom surface of the fuselage (10) is less than the distance between the lowest point of the second drive wheel (22) in the second position and the bottom surface of the fuselage (10).

3. The cleaning robot according to claim 2, characterized in that, In the second position, the second drive wheel (22) is completely outside the fuselage (10).

4. The cleaning robot according to claim 2, characterized in that, The first drive wheel (21) is movable relative to the fuselage (10) between a third position corresponding to the traveling state and a fourth position corresponding to the obstacle crossing state. In the third position, the first drive wheel (21) is completely inside the fuselage (10), and in the fourth position, the first drive wheel (21) extends partially out of the fuselage (10).

5. The cleaning robot according to claim 4, characterized in that, The drive wheel assembly (20) also includes a support base (23) and a lifting mechanism (24) disposed on the fuselage (10). The first drive wheel (21) and the second drive wheel (22) are disposed on the support base (23). The lifting mechanism (24) can drive the support base (23) to move in order to switch between the traveling state and the obstacle crossing state.

6. The cleaning robot according to claim 5, characterized in that, One end of the support base (23) is rotatably hinged to the body (10), and the lifting mechanism (24) can drive the support base (23) to rotate relative to the body (10).

7. The cleaning robot according to claim 1, characterized in that, It also includes a drive mechanism, wherein the first drive wheel (21) and the second drive wheel (22) are connected by a transmission mechanism (25), and the drive mechanism is connected to the first drive wheel (21) or the second drive wheel (22) to drive the first drive wheel (21) and the second drive wheel (22).

8. The cleaning robot according to claim 1, characterized in that, In the lateral direction perpendicular to the direction of travel, the first drive wheel (21) is located on one side of the second drive wheel (22).

9. The cleaning robot according to claim 1, characterized in that, The outer diameter of the first drive wheel (21) is smaller than the outer diameter of the second drive wheel (22).

10. The cleaning robot according to claim 1, characterized in that, It also includes a caster wheel (30) disposed at the bottom of the front end of the fuselage (10), the caster wheel (30) being movable between a fifth position corresponding to the traveling state and a sixth position corresponding to the obstacle crossing state, in the fifth position the caster wheel (30) is at least partially located outside the fuselage (10), and in the sixth position the caster wheel (30) is completely located inside the fuselage (10).

11. The cleaning robot according to claim 1, characterized in that, It also includes a support wheel (40) located at the bottom of the rear end of the fuselage (10).

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