Chassis structure, cleaning equipment and cleaning system

Abstract

The utility model provides a chassis structure, cleaning equipment and a cleaning system, and relates to the technical field of cleaning. The chassis structure comprises a chassis body, driving wheels and a driving assembly. The driving wheel comprises a roller and a support, the roller is rotatably connected to the support, the support is rotatably connected to the chassis body through a rotating shaft, and a lifting part is arranged on the support. The driving assembly is arranged on the chassis body, the driving assembly comprises a swing driving part, the swing driving part is connected with the lifting part, the swing driving part rotates forwards or reversely, so that the chassis body has a lifting position and a normal position, and the chassis body moves between the lifting position and the normal position. According to the chassis structure, the problem that the obstacle crossing ability is unstable when the chassis structure is applied to different ground environments due to the fact that the lifting height of the chassis structure is fixed can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning, in particular to a chassis structure, a cleaning device and a cleaning system. BACKGROUND

[0002] The cleaning device is a common intelligent cleaning appliance, such as a robot vacuum cleaner, an automatic sweeper, etc. During the cleaning process, the cleaning device needs to cope with various complex ground environments, such as doorsteps, carpet edges, wires and other obstacles. The obstacle crossing ability of the cleaning device during automatic driving is crucial to the cleaning device.

[0003] In the related art, the cleaning device combines a drive wheel, a suspension system and a sensor to realize the obstacle crossing function. The chassis structure of the cleaning device can be lifted to a certain height relative to the ground to cross the obstacles. However, the lifting height of the chassis structure is usually fixed, and the obstacle crossing precision for different ground environments is not high, which can easily lead to unstable obstacle crossing ability and thus affect the cleaning efficiency. UTILITY MODEL CONTENT

[0004] The present application provides a chassis structure, a cleaning device and a cleaning system, which can solve the problem of fixed lifting height of the chassis structure, leading to unstable obstacle crossing ability when applied to different ground environments.

[0005] In a first aspect, the present application provides a chassis structure, comprising:

[0006] a chassis body;

[0007] a drive wheel, the drive wheel comprising a roller and a support, the roller being rotatably connected to the support, the support being rotatably connected to the chassis body through a rotating shaft, and the support being provided with a lifting portion;

[0008] a drive assembly, the drive assembly being arranged on the chassis body, the drive assembly comprising a swing drive, the swing drive being connected to the lifting portion, and the swing drive being rotatable in a forward direction or a reverse direction to make the chassis body have a lifting position and a normal position, and the chassis body moving between the lifting position and the normal position.

[0009] The chassis structure provided by the present application, when the swing drive is rotated in the forward direction or the reverse direction, the height of the swing drive relative to the cleaning surface changes. Since the swing drive is connected to the lifting portion on the support of the drive wheel, when the height of the swing drive relative to the cleaning surface changes, the lifting portion can change the height relative to the cleaning surface synchronously. Since the support is rotatably connected to the chassis body through the rotating shaft, when the lifting portion is lifted or lowered relative to the cleaning surface, the lifting portion can drive the chassis body to be lifted or lowered through the rotating shaft to reach the lifting position and the normal position.

[0010] Since the swing driving member can rotate in a forward direction or a reverse direction, when the swing driving member rotates in the forward direction or the reverse direction to different positions, the lifting portion can have different heights relative to the surface to be cleaned, so that the chassis body can be lifted or lowered to different positions. The chassis body can stop at any position between the lifting position and the normal position for crossing different size obstacles, so that precise obstacle crossing can be achieved, with more stable obstacle crossing ability.

[0011] In addition, it is easy to understand that when the cleaning device encounters obstacles of different sizes, the chassis body can be lifted to different heights, so when the size of the obstacle is small, the chassis body can be lifted to a smaller size to save lifting time and energy consumption of lifting, which is beneficial to improve cleaning efficiency, reduce energy consumption, and improve endurance.

[0012] According to an embodiment of the present application, along the direction of travel of the chassis body, the chassis body has a first end and a second end;

[0013] When the chassis body is in the lifting position, the distance between at least one of the first end and the second end and the surface to be cleaned increases.

[0014] In the embodiment of the present application, the lifting portion can be driven upward by the rotation of the swing driving member. The lifting portion is located on the support, and the rotating shaft is arranged on the support, so that when the lifting portion is upward, the rotating shaft is also upward synchronously, so that the chassis body moves in the direction of the lifting position.

[0015] When the chassis body is in the lifting position, the distance between at least one of the first end and the second end of the chassis body and the surface to be cleaned increases, so that when the chassis body encounters an obstacle, the end of the chassis body with increased distance from the surface to be cleaned can cross the obstacle and continue the cleaning work. Therefore, the possibility of collision between the cleaning device and the obstacle and then retreat, resulting in that the local surface to be cleaned is not cleaned and affecting the cleaning effect can be reduced.

[0016] According to an embodiment of the present application, along the direction of travel of the chassis body, the first end is located on the front side of the chassis body;

[0017] When the chassis body is in the lifting position, the chassis body is inclined relative to the surface to be cleaned, the distance between the first end and the surface to be cleaned increases, and the distance between the second end and the surface to be cleaned remains unchanged.

[0018] In the embodiment of the present application, when the chassis body is located at the lifting position, the distance between the first end on the front side of the chassis body and the surface to be cleaned is increased. At this time, the center of gravity of the chassis body can be close to the rear side of the chassis body, so that the chassis body is inclined as a whole, and the chassis body is in an inclined state relative to the surface to be cleaned. In this way, the range of the lifting height of the first end on the front side of the chassis body can be increased, so as to improve the obstacle-crossing ability of the cleaning device.

[0019] It is easy to understand that, along the direction of travel of the chassis body, the driving wheel can be located at the middle region of the chassis body, and the lifting part can be located at the side close to the first end. When the lifting part is lifted by a small stroke, the first end on the front side of the chassis body can be lifted by a large stroke, so that the cleaning device can have a higher obstacle-crossing ability by a smaller driving force.

[0020] According to an embodiment of the present application, the roller and the rotating shaft have a spacing along the direction of travel of the chassis body.

[0021] In the embodiment of the present application, when the lifting part is flipped upward by the action force of the swing driving member (for example, counterclockwise flipping as shown in FIG. 6B) Figure 3 , the rotating shaft is also flipped upward synchronously. The rotating shaft can be flipped counterclockwise upward relative to the roller, so as to move the chassis body in the direction of the lifting position. By setting the roller and the rotating shaft to have a spacing along the direction of travel, the roller and the rotating shaft can form a larger movement arm. According to the formula of moment, when the arm is longer, the moment is larger under the condition that the pushing force of the rotating shaft to the chassis body is constant, so that the chassis body can be more effectively driven to lift, and the lifting efficiency is improved. Alternatively, when the arm is longer, the pushing force of the rotating shaft to the chassis body can be set to be smaller under the condition that the moment is constant, so that the pushing force of the swing driving member to the lifting part can be smaller, which is beneficial to achieve the effect of labor saving.

[0022] Similarly, when the swing driving member is reversely rotated, the lifting part can be flipped downward (for example, clockwise flipping as shown in FIG. 6A) Figure 3 , and the rotating shaft can move downward. The rotating shaft can be flipped clockwise downward relative to the roller, so as to move the chassis body in the direction of the normal position. By setting the roller and the rotating shaft to have a spacing along the direction of travel, the roller and the rotating shaft can form a larger movement arm, so as to improve the lifting efficiency and achieve the effect of labor saving.

[0023] Alternatively, when the chassis body moves in the direction from the lifting position to the normal position, the swing driving member can not have a driving effect on the lifting part. For example, when the swing driving member is reversely rotated, the swing driving member can release the pushing force to the lifting part, and at this time, the chassis body can move to the normal position under the action of its own gravity.

[0024] According to an embodiment of the present application, the rotation shaft and the lifting part have a spacing along a height direction of the chassis body.

[0025] In the embodiment of the present application, the rotation shaft can be close to the lifting part along a running direction of the chassis body. And the rotation shaft and the lifting part have a spacing along a height direction of the chassis body. In this way, the roller, the lifting part and the rotation shaft can form a three-point stable support during the lifting or lowering of the chassis body, which is beneficial to improve the stability and reliability of the movement of the chassis body between the lifting position and the normal position.

[0026] According to an embodiment of the present application, the swing drive has a driving surface facing the roller along the running direction of the chassis body. The swing drive rotates forward to move the lifting part towards the roller, and drives the chassis body to move towards the lifting position.

[0027] The swing drive rotates reversely to move the lifting part away from the roller, and drives the chassis body to move towards the normal position.

[0028] In the embodiment of the present application, when the swing drive rotates forward, the swing drive can be connected with the lifting part through the driving surface to provide an upward turning driving force for the lifting part.

[0029] Wherein, the driving assembly and the driving wheel can be arranged side by side along a width direction of the chassis body. The width direction can be perpendicular to the running direction. The swing drive and the lifting part have an overlapping area along the width direction of the chassis body. Therefore, when the swing drive swings in a plane parallel to the running direction of the chassis body, the swing drive can provide a pushing force or release the pushing force for the lifting part.

[0030] According to an embodiment of the present application, the swing drive has an auxiliary surface, the auxiliary surface and the driving surface have an included angle, and the auxiliary surface and the driving surface form a space capable of accommodating part of the lifting part. The auxiliary surface is used to be connected with the lifting part when the chassis body moves towards the normal position, to assist the chassis body to reset.

[0031] In the embodiment of the present application, the rotation of the swing drive can be used to drive the lifting part to turn upward, so that the chassis body can be lifted upward. When the swing drive rotates reversely, the swing drive releases the pushing force for the upward turning of the lifting part. On the one hand, the chassis body can be lowered to the normal position under the action of its own gravity. On the other hand, the auxiliary surface of the swing drive can be used to be connected with the lifting part and drive the lifting part to turn downward, to promote the movement of the chassis body towards the normal position, so as to improve the resetting rate of the chassis body towards the normal position.

[0032] It should be noted that when the chassis body moves towards the normal position, it can mainly rely on the action of its own gravity to move downwards. Therefore, the force of the reverse rotation of the swing driving member is small, which is conducive to reducing the energy loss when the chassis body moves from the lifting position to the normal position, and improving the endurance of the cleaning equipment.

[0033] According to an embodiment of the present application, the driving assembly comprises a power unit and a transmission unit, one end of the transmission unit is connected with the power unit, and the other end of the transmission unit is connected with the swing driving member, and the power unit drives the swing driving member to rotate forward or reversely through the transmission unit.

[0034] In the embodiment of the present application, the power unit can be used to provide driving force for the forward or reverse rotation of the swing driving member. The transmission unit can be used to transmit the power provided by the power unit to the swing driving member, so that the swing driving member can rotate forward or reversely.

[0035] According to an embodiment of the present application, the transmission unit comprises a worm and a worm gear in cooperation, the worm is connected with the power unit, and the worm gear is connected with the swing driving member.

[0036] In the embodiment of the present application, the cooperation of the worm and the worm gear has the characteristics of real-time self-locking. When the power unit stops running, the lifting or lowering action of the chassis body can stop, and can be self-locked at the current position. Therefore, when the chassis body is in the self-locked state, the chassis body remains in the current state, and the phenomenon of slipping between the worm and the worm gear is not easy to occur.

[0037] In addition, the cooperation gap of the worm and the worm gear transmission is small, and the transmission precision is high, so that the high-precision lifting or lowering of the chassis body can be realized. When the worm and the worm gear are engaged in transmission, they have small impact and vibration, so they have high stability, the transmission process runs smoothly, and the noise is low. In addition, the cooperation of the worm and the worm gear can make the structure of the transmission unit compact, and the transmission unit is not easy to occupy a large space on the chassis body. Therefore, there is enough space on the chassis body to arrange other functional modules to meet the multi-functional needs of the cleaning equipment.

[0038] According to an embodiment of the present application, the driving wheel further comprises an auxiliary wheel, the auxiliary wheel is arranged on the support, and the auxiliary wheel is used to cross over the obstacle when the chassis body encounters the obstacle.

[0039] In the embodiment of the present application, along the direction of travel of the chassis body, the auxiliary wheel can make the middle region of the auxiliary chassis body cross over the obstacle smoothly after the first end of the front side of the chassis body crosses over the obstacle, so that the second end of the rear side of the chassis body can also cross over the obstacle more easily.

[0040] Specifically, when the chassis body encounters an obstacle during travel, the first end of the chassis body can be lifted upward under the action of the swing driving member, so that the front side of the chassis body can be raised to a certain height first, and the first end of the front side of the chassis body can smoothly cross the obstacle. The auxiliary wheel can be abutted against the cleaning surface or the obstacle after the front side of the chassis body crosses the obstacle, so that the middle region of the chassis body can be lifted to a certain height, and the middle region of the chassis body can smoothly cross the obstacle. Then, as the chassis body continues to travel, the second end of the rear side of the chassis body can drive the universal wheel to cross the obstacle under the action of the driving wheel and the auxiliary wheel, thereby completing the obstacle crossing of the chassis body.

[0041] According to an embodiment of the present application, a Hall code disc is further included, which is connected with the power unit and used to control the operating parameter of the power unit.

[0042] In the embodiment of the present application, the operating parameter of the power unit can directly control the lifting height of the chassis body, so that the chassis body can be accurately lifted through the Hall code disc, and the chassis body can be stopped at any position between the lifting position and the normal position, thereby realizing stepless adjustment of the chassis body.

[0043] In the second aspect, the present application provides a cleaning device including the chassis structure in any of the above embodiments.

[0044] In the third aspect, the present application provides a cleaning system including a base station and a cleaning device. The cleaning device can be placed on the base station.

[0045] The chassis structure provided by the present application has the following beneficial effects: the chassis body can move between the lifting position and the normal position through forward or reverse rotation of the swing driving member. When the chassis body is lifted to have the obstacle crossing ability, the swing driving member can stop moving. After the chassis body crosses the obstacle, the chassis body can be lowered to the normal position. Therefore, through forward or reverse rotation of the swing driving member, the chassis body can be at any position between the lifting position and the normal position in the case of smoothly crossing the obstacle, has high obstacle crossing precision, is beneficial to improving the stability of the obstacle crossing ability, and guarantees the cleaning efficiency.

[0046] In addition to the technical problems solved by the above-described embodiments of the present application, the technical features constituting the technical solutions, and the beneficial effects brought by these technical features, other technical problems solved by the chassis structure, the cleaning device and the cleaning system provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0047] The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.

[0048] Figure 1 A side view schematic diagram of a cleaning apparatus according to an embodiment of the present application;

[0049] Figure 2 A partial view schematic diagram of a chassis structure according to an embodiment of the present application;

[0050] Figure 3 Another partial view schematic diagram of a chassis structure according to an embodiment of the present application.

[0051] BRIEF DESCRIPTION OF DRAWINGS

[0052] 10 - cleaning apparatus;

[0053] 100 - chassis structure;

[0054] 110 - chassis body; 110a - first end; 110b - second end;

[0055] 120 - drive wheel; 121 - roller; 122 - support; 1221 - lifting portion; 123 - rotation shaft; 124 - auxiliary wheel;

[0056] 130 - drive assembly;

[0057] 131 - swing drive; 131a - drive surface; 131b - auxiliary surface;

[0058] 132 - power unit;

[0059] 133 - transmission unit; 1331 - worm; 1332 - worm gear;

[0060] 134 - drive shaft;

[0061] 140 - universal wheel;

[0062] X - advancing direction; Y - height direction; Z - width direction.

[0063] By the above drawings, the explicit embodiments of the present application have been shown, and will be described in more detail hereinafter. These drawings and written description are not intended to restrict the scope of the concept of the present application by any means, but to explain the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0064] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements, unless the context clearly dictates otherwise. The following description of exemplary embodiments is not representative of all possible embodiments consistent with the present application. Instead, it is merely an example of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims. It is apparent that the described embodiments are a part of, and not the whole of, the embodiments consistent with the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts are within the scope of the present application.

[0065] The cleaning device provided in the embodiments of the present application can be a sweeping robot. The sweeping robot is a device for cleaning the ground. The cleaning function of the sweeping robot is mainly realized through high-speed rotation of the motor. The high-speed rotation of the motor can form a vacuum in the body to use high-speed airflow to suck dirt such as dust and hair on the ground into the body through the suction port. The dirt can be accumulated in a cloth bag or a dust box to facilitate regular cleaning by the user.

[0066] Among them, part of the sweeping robot can also be equipped with a mop and a water tank for wiping the ground at the same time of sweeping the ground or after the sweeping work is completed, thereby further improving the cleaning effect. The cleaning device of the embodiments of the present application can only have a sweeping function, or can have a combination of sweeping and wiping functions, which is not limited in the embodiments of the present application.

[0067] During the operation of the sweeping robot, the distance between the chassis structure and the ground is usually small to ensure the effective suction force on the ground and improve the suction effect on the ground dirt. However, when there is an obstacle in front, the chassis structure will collide with the obstacle due to the small distance between the chassis structure and the ground, so that the sweeping robot cannot continue to travel when encountering the obstacle, thereby affecting the cleaning effect and cleaning efficiency. When the path passed by the sweeping robot has a slightly convex block, it is easy to cause the sweeping robot to be unable to pass. For example, the threshold, the bottom rail of the sliding door, the edge of the carpet, the wire, etc. can all hinder the travel of the sweeping robot.

[0068] Therefore, the obstacle crossing ability of the cleaning device during automatic travel is crucial for the cleaning device. In the related art, the cleaning device combines the driving wheel, the suspension system and the sensor to realize the obstacle crossing function. The chassis structure of the cleaning device can be lifted to a certain height relative to the ground to cross the obstacle. However, the lifting height of the chassis structure is usually fixed, and the obstacle crossing precision is not high for different ground environments, which can easily cause the obstacle crossing ability to be unstable, thereby affecting the cleaning efficiency.

[0069] Based on the above technical problems, the applicant improves the existing chassis structure. In the embodiment of the present application, the driving assembly can drive the chassis body to move between the lifting position and the normal position through forward or reverse rotation of the swing driving member. When the chassis body is lifted to have the obstacle crossing ability, the swing driving member can stop moving. When the chassis body crosses the obstacle, the chassis body can be lowered to the normal position. Therefore, through the forward or reverse rotation of the swing driving member, the chassis body can be in any position between the lifting position and the normal position in the case of realizing the smooth obstacle crossing of the chassis body, having high obstacle crossing precision, being beneficial to improving the stability of the obstacle crossing ability, and guaranteeing the cleaning efficiency.

[0070] The chassis structure 100, the cleaning equipment 10 and the cleaning system provided by the present application are described below with reference to the accompanying drawings and in combination with specific embodiments.

[0071] Referring to Figures 1 to 3 The chassis structure 100 of the embodiment of the present application includes a chassis body 110, a driving wheel 120 and a driving assembly 130.

[0072] The driving wheel 120 includes a roller 121 and a support 122. The roller 121 is rotatably connected to the support 122. The support 122 is rotatably connected to the chassis body 110 through a rotating shaft 123. The support 122 is provided with a lifting part 1221.

[0073] The driving assembly 130 is arranged on the chassis body 110. The driving assembly 130 includes a swing driving member 131. The swing driving member 131 is connected to the lifting part 1221. The swing driving member 131 rotates forward or reversely to make the chassis body 110 have a lifting position and a normal position. The chassis body 110 moves between the lifting position and the normal position.

[0074] In the embodiment of the present application, when the swing driving member 131 rotates forward or reversely, the height of the swing driving member 131 relative to the surface to be cleaned changes. Since the swing driving member 131 is connected to the lifting part 1221 on the support 122 of the driving wheel 120, when the height of the swing driving member 131 relative to the surface to be cleaned changes, the lifting part 1221 can change the height relative to the surface to be cleaned synchronously. Since the support 122 is rotatably connected to the chassis body 110 through the rotating shaft 123, when the lifting part 1221 is lifted or lowered relative to the surface to be cleaned, the lifting part 1221 can drive the chassis body 110 to be lifted or lowered through the rotating shaft 123 to reach the lifting position and the normal position.

[0075] As the swing driving member 131 can rotate in a forward direction or a reverse direction, when the swing driving member 131 rotates in the forward direction or the reverse direction to different positions, the lifting portion 1221 can have different heights relative to the surface to be cleaned, so that the chassis body 110 can be lifted or lowered to different positions. The chassis body 110 can stop at any position between the lifting position and the normal position for passing over obstacles of different sizes, so that precise obstacle passing can be achieved, and the obstacle passing ability is more stable.

[0076] In addition, it is easy to understand that when the cleaning device 10 encounters obstacles of different sizes, the chassis body 110 can be lifted to different heights, so that when the size of the obstacle is small, the chassis body 110 can be lifted to a small size, so as to save lifting time and energy consumption of lifting, which is beneficial to improve cleaning efficiency, reduce energy consumption, and improve endurance.

[0077] It should be noted that the forward rotation or the reverse rotation of the swing driving member 131 can make the chassis body 110 have a lifting position and a normal position. One of the forward rotation and the reverse rotation is clockwise rotation, and the other is counterclockwise rotation, which is not specifically limited in the embodiment of the present application.

[0078] For example, in the embodiment of the present application, the forward rotation is clockwise rotation, and the reverse rotation is counterclockwise rotation. Referring to the direction shown in Figure 2 When the swing driving member 131 is reversely rotated, the chassis body 110 can reach the lifting position. When the swing driving member 131 is forwardly rotated, the chassis body 110 can reach the normal position.

[0079] The normal position can mean that during the cleaning of the surface to be cleaned by the cleaning device 10, the chassis structure 100 has a small distance from the surface to be cleaned, so as to ensure the effective suction force on the surface to be cleaned and improve the cleaning effect. For example, when the chassis body 110 is lowered to have the smallest distance from the surface to be cleaned, the chassis body 110 can be in the normal position.

[0080] In some examples, the driving wheel 120 of the embodiment of the present application can make the cleaning device 10 advance, retreat or turn. And under the action of the driving wheel 120, the cleaning device 10 can overcome the obstacles on the surface to be cleaned.

[0081] For example, the driving wheel 120 can be powered by the power unit 132, so that the driving wheel 120 can be used to provide driving force for the movement and obstacle passing of the cleaning device 10.

[0082] In some realizable modes, referring to Figure 1As shown, along the traveling direction X of the chassis body 110, the chassis body 110 has a first end 110a and a second end 110b. When the chassis body 110 is in the lifted position, the distance between at least one of the first end 110a and the second end 110b and the surface to be cleaned increases.

[0083] In the embodiment, the lifting part 1221 can be driven to rotate by the swing driving part 131. The lifting part 1221 is located on the bracket 122, and the rotating shaft 123 is arranged on the bracket 122. Therefore, when the lifting part 1221 is lifted upward, the rotating shaft 123 can also be lifted upward synchronously, so that the chassis body 110 moves in the direction of the lifted position.

[0084] In the embodiment, when the chassis body 110 is in the lifted position, the distance between at least one of the first end 110a and the second end 110b of the chassis body 110 and the surface to be cleaned increases. In this way, when the chassis body 110 encounters an obstacle, the end of the chassis body 110, which has an increased distance from the surface to be cleaned, can cross the obstacle and continue the cleaning work. Therefore, the possibility that the cleaning device 10 retreats after colliding with the obstacle and the surface to be cleaned is not cleaned completely, thereby affecting the cleaning effect, can be reduced.

[0085] In some examples, the cleaning device 10 can include a sensor. The sensor can be used to identify the size of the obstacle in the traveling direction X of the cleaning device 10, and lift the chassis body 110 to a corresponding height according to the size of the obstacle, so that the chassis body 110 has the ability to cross the obstacle.

[0086] In some possible implementation manners, referring to Figure 1 As shown, along the traveling direction X of the chassis body 110, the first end 110a is located on the front side of the chassis body 110. When the chassis body 110 is in the lifted position, the chassis body 110 is inclined relative to the surface to be cleaned. The distance between the first end 110a and the surface to be cleaned increases, and the distance between the second end 110b and the surface to be cleaned remains unchanged.

[0087] In the embodiment, when the chassis body 110 is in the lifted position, the distance between the first end 110a on the front side of the chassis body 110 and the surface to be cleaned increases. At this time, the center of gravity of the chassis body 110 can be close to the rear side of the chassis body 110, so that the chassis body 110 is inclined as a whole, and the chassis body 110 is in an inclined state relative to the surface to be cleaned. In this way, the range of the lifting height of the first end 110a on the front side of the chassis body 110 can be increased, so that the obstacle-crossing ability of the cleaning device 10 can be improved.

[0088] Furthermore, it is easy to understand that, along the travel direction X of the chassis body 110, the drive wheel 120 can be located in the middle area of ​​the chassis body 110, and the lifting part 1221 can be located on the side closer to the first end 110a. When the lifting part 1221 lifts by a small stroke, the first end 110a on the front side of the chassis body 110 can be lifted by a large stroke. Therefore, with a small driving force, the cleaning device 10 can have a high obstacle-crossing ability.

[0089] In some examples, the chassis structure 100 may also include casters 140. Casters 140 may be located on the side of the chassis body 110 near the second end 110b. Casters 140 provide support for the chassis body 110. When the chassis body 110 is tilted, casters 140 can support the second end 110b of the chassis body 110 to prevent friction between the second end 110b of the chassis body 110 and the surface to be cleaned, thus avoiding potential wear of the chassis body 110.

[0090] In some examples, by setting different rotation angles for the swing drive 131, the first end 110a of the chassis body 110 can be raised or lowered by different distances. The range of the forward or reverse rotation angle of the swing drive 131 is not limited in this embodiment. For example, when the swing drive 131 rotates 60 degrees, the first end 110a of the chassis body 110 can be raised by approximately 20mm to 25mm. The chassis structure 100 provided in this embodiment can have a lifting height of at least 50mm.

[0091] See also some of the possible implementation methods. Figure 2 As shown, in this embodiment of the application, the roller 121 and the lifting part 1221 have a distance between them along the traveling direction X of the chassis body 110.

[0092] In this embodiment of the application, when the lifting part 1221 is flipped upward by the force of the swing drive member 131 (for example...), Figure 2 (As shown, the rotation is counterclockwise), and the rotating shaft 123 also rotates upwards synchronously. The rotating shaft 123 can rotate counterclockwise upwards relative to the roller 121, so that the chassis body 110 moves in the direction of the lifting position. By setting the roller 121 and the rotating shaft 123 to have a distance in the direction of travel X, the roller 121 and the rotating shaft 123 can form a large motion lever arm. According to the torque formula, when the pushing force of the rotating shaft 123 on the chassis body 110 is constant, when the lever arm is long, the torque is greater, which can drive the chassis body 110 to lift more effectively and improve the lifting efficiency. Alternatively, when the torque is kept constant, when the lever arm is long, the pushing force of the rotating shaft 123 on the chassis body 110 can be set to be smaller, so that the pushing force of the swing drive 131 driving the lifting part 1221 upwards can be smaller, which is conducive to achieving the effect of saving effort.

[0093] Similarly, when the swing driving member 131 reversely rotates, the lifting portion 1221 can be flipped downward (for example Figure 2 clockwise as shown), and the rotating shaft 123 can move downward. The rotating shaft 123 can be flipped clockwise downward relative to the roller 121, so as to move the chassis body 110 in the direction of the normal position. By setting the roller 121 and the rotating shaft 123 to have a spacing along the advancing direction X, the roller 121 and the rotating shaft 123 can form a larger movement arm to improve the lifting efficiency and achieve the effect of labor saving.

[0094] Alternatively, when the chassis body 110 moves in the direction from the lifting position to the normal position, the swing driving member 131 can not have a driving effect on the lifting portion 1221. For example, when the swing driving member 131 reversely rotates, the swing driving member 131 can release the pushing force on the lifting portion 1221, at this time, the chassis body 110 can move to the normal position under the action of its own gravity.

[0095] In some possible implementations, referring to Figure 2 , the rotating shaft 123 and the lifting portion 1221 have a spacing along the height direction Y of the chassis body 110.

[0096] In the embodiments of the present application, the rotating shaft 123 and the lifting portion 1221 can have a spacing along the height direction Y of the chassis body 110. In combination with the aforementioned spacing between the roller 121 and the lifting portion 1221 along the advancing direction X of the chassis body 110, therefore, the roller 121, the lifting portion 1221 and the rotating shaft 123 can form three-point stable support during the lifting or lowering of the chassis body 110, which is beneficial to improve the stability and reliability of the movement of the chassis body 110 between the lifting position and the normal position.

[0097] When the swing driving member 131 pushes the lifting portion 1221 to flip upward, the pushing force of the swing driving member 131 on the lifting portion 1221 can drive the rotating shaft 123 to move synchronously, since the roller 121 remains on the surface to be cleaned, the lifting portion 1221 and the rotating shaft 123 can move upward relative to the roller 121, and the chassis body 110 is driven by the rotating shaft 123 to move in the direction of the lifting position. Similarly, when the swing driving member 131 releases the force on the lifting portion 1221 to flip the lifting portion 1221 downward, the movement of the lifting portion 1221 can drive the rotating shaft 123 to move synchronously, since the roller 121 remains on the surface to be cleaned, the lifting portion 1221 and the rotating shaft 123 can move downward relative to the roller 121, and the chassis body 110 is driven by the rotating shaft 123 to move in the direction of the normal position.

[0098] In some examples, the rotating shaft 123 can be close to the lifting portion 1221 along the advancing direction X of the chassis body 110.

[0099] In some possible implementation manners, referring to Figure 3 As shown in the figure, along the direction X of the chassis body 110, the swing driving member 131 has a driving surface 131a facing the roller 121. The swing driving member 131 rotates forward to drive the lifting part 1221 to move towards the roller 121. The swing driving member 131 drives the chassis body 110 to move towards the lifting position. The swing driving member 131 rotates reversely to drive the lifting part 1221 to move away from the roller 121, and the chassis body 110 moves towards the normal position.

[0100] In the embodiment of the present application, when the swing driving member 131 rotates forward, the swing driving member 131 can be connected to the lifting part 1221 through the driving surface 131a, to provide driving force for the lifting part 1221 to flip upwards.

[0101] In the embodiment of the present application, along the width direction Z of the chassis body 110, the driving assembly 130 and the driving wheel 120 can be arranged side by side. The width direction Z can be perpendicular to the direction X of movement. Along the width direction Z of the chassis body 110, the swing driving member 131 and the lifting part 1221 have an overlapping area. Therefore, when the swing driving member 131 swings in a plane parallel to the direction X of movement of the chassis body 110, the swing driving member 131 can provide or release the pushing force to the lifting part 1221.

[0102] In some examples, the cleaning device 10 can include two driving wheels 120. The two driving wheels 120 can be arranged on the two sides of the width direction Z of the chassis body 110 respectively. The two driving wheels 120 can be controlled synchronously through one driving assembly 130, or the two driving wheels 120 can be controlled respectively through two driving assemblies 130. The embodiment of the present application is not limited in this regard.

[0103] In some possible implementation manners, referring to Figure 3 As shown in the figure, the swing driving member 131 of the embodiment of the present application has an auxiliary surface 131b. The auxiliary surface 131b and the driving surface 131a have an included angle, and the auxiliary surface 131b and the driving surface 131a form a space that can accommodate part of the lifting part 1221. The auxiliary surface 131b is used to connect to the lifting part 1221 when the chassis body 110 moves towards the normal position, to assist the chassis body 110 to reset.

[0104] In the embodiments of the present application, the rotation of the swing driving member 131 can be used to drive the upward overturning of the lifting part 1221, so that the chassis body 110 can be lifted upward. When the swing driving member 131 reversely rotates, the swing driving member 131 releases the pushing force for the upward overturning of the lifting part 1221. On the one hand, the chassis body 110 can move downward to the normal position under the action of its own gravity. On the other hand, the auxiliary surface 131b of the swing driving member 131 can be used to be connected with the lifting part 1221 and drive the downward overturning of the lifting part 1221, so as to promote the movement of the chassis body 110 in the direction of the normal position, so as to improve the speed of the reset of the chassis body 110 in the direction of the normal position.

[0105] It should be noted that when the chassis body 110 moves in the direction of the normal position, it can mainly rely on the action of its own gravity to move downward. Therefore, the acting force of the reverse rotation of the swing driving member 131 is small, which is beneficial to reduce the energy loss when the chassis body 110 moves in the direction of the normal position from the lifting position, and improve the endurance of the cleaning equipment 10.

[0106] In some examples, the included angle formed by the driving surface 131a and the auxiliary surface 131b can be "V" type. The size of the included angle can be set according to the lifting height of the chassis body 110. The embodiments of the present application do not limit the size of the included angle. For example, the included angle of the driving surface 131a and the auxiliary surface 131b can be 45 degrees, 60 degrees, 80 degrees, 110 degrees, etc.

[0107] In some realizable ways, referring to FIGS. 1, 2 and 3, Figure 2 and Figure 3 As shown in the figures, the driving assembly 130 of the embodiments of the present application includes a power unit 132 and a transmission unit 133. One end of the transmission unit 133 is connected with the power unit 132. The other end of the transmission unit 133 is connected with the swing driving member 131. The power unit 132 drives the forward or reverse rotation of the swing driving member 131 through the transmission unit 133.

[0108] In the embodiments of the present application, the power unit 132 can be used to provide driving force for the forward or reverse rotation of the swing driving member 131. The transmission unit 133 can be used to transmit the power provided by the power unit 132 to the swing driving member 131, so that the swing driving member 131 can rotate forward or reversely.

[0109] In some examples, the transmission unit 133 can include a transmission shaft. The transmission shaft can be used to be connected with the swing driving member 131. The transmission shaft moves synchronously with the swing driving member 131. The swing driving member 131 can rotate forward or reversely around the axial direction of the transmission shaft.

[0110] In some examples, the chassis structure 100 can further include a Hall code disc. The Hall code disc can be connected with the power unit 132 for controlling the operating parameter (e.g., the number of rotations) of the power unit 132. The operating parameter of the power unit 132 can directly control the lifting height of the chassis body 110, so that the accurate lifting of the chassis body 110 can be realized through the Hall code disc, and the chassis body 110 can stop at any position between the lifting position and the normal position, realizing the stepless adjustment of the chassis body 110.

[0111] In some realizable manners, referring to Figs. 1 and 2, the transmission unit 133 includes a worm gear 1331 and a worm wheel 1332 in cooperation. Figure 2 and Figure 3 The transmission unit 133 includes a worm gear 1331 and a worm wheel 1332 in cooperation.

[0112] In the embodiments of the present application, the cooperation transmission of the worm wheel 1332 and the worm gear 1331 has the characteristics of real-time self-locking. When the power unit 132 stops running, the lifting or lowering action of the chassis body 110 can stop, and can be self-locked at the current position. Therefore, when the chassis body 110 is in the self-locked state, the chassis body 110 remains in the current state, and the phenomenon of slipping between the worm wheel 1332 and the worm gear 1331 is not easy to occur.

[0113] In addition, the cooperation transmission gap of the worm wheel 1332 and the worm gear 1331 is small, and the transmission precision is high, so that the high-precision lifting or lowering of the chassis body 110 can be realized. When the worm wheel 1332 and the worm gear 1331 mesh transmission, the impact and vibration are small, so that the stability is high, the transmission process runs smoothly, and the noise is low. In addition, the cooperation of the worm wheel 1332 and the worm gear 1331 can make the structure of the transmission unit 133 compact, and the transmission unit 133 is not easy to occupy a large space on the chassis body 110, so that there is enough space on the chassis body 110 to arrange other functional modules, so as to improve the multifunctional demand of the cleaning equipment 10.

[0114] In some examples, the power unit 132 can be but is not limited to a motor. The power unit 132 can drive the worm wheel 1332 to rotate. The worm gear 1331 can be connected with the swing driving member 131 through the driving shaft 134. Therefore, the cooperation transmission of the worm wheel 1332 and the worm gear 1331 can make the swing driving member 131 rotate.

[0115] In some realizable manners, referring to Figs. 1 and 2, the transmission unit 133 includes a worm gear 1331 and a worm wheel 1332 in cooperation. Figure 1 and Figure 2 The driving wheel 120 further includes an auxiliary wheel 124. The auxiliary wheel 124 is arranged on the bracket 122. The auxiliary wheel 124 is used to overcome the obstacles when the chassis body 110 encounters the obstacles.

[0116] In the embodiments of the present application, along the traveling direction X of the chassis body 110, the auxiliary wheel 124 can make the middle region of the chassis body 110 smoothly pass over the obstacle after the first end 110a of the front side of the chassis body 110 passes over the obstacle, so that the second end 110b of the rear side of the chassis body 110 can also pass over the obstacle more easily.

[0117] Specifically, when the chassis body 110 encounters an obstacle during traveling, under the action of the swing driving member 131, the first end 110a of the chassis body 110 can be lifted upward, so that the front side of the chassis body 110 can be tilted upward by a certain height, and the first end 110a of the front side of the chassis body 110 can smoothly pass over the obstacle. After the front side of the chassis body 110 passes over the obstacle, the auxiliary wheel 124 can be abutted against the cleaning surface or the obstacle to lift the middle region of the chassis body 110 by a certain height, so that the middle region of the chassis body 110 can smoothly pass over the obstacle. Then, with the continuous traveling of the chassis body 110, the second end 110b of the rear side of the chassis body 110 can drive the universal wheel 140 to pass over the obstacle under the action of the driving wheel 120 and the auxiliary wheel 124, thereby completing the obstacle passing of the chassis body 110.

[0118] The embodiments of the present application also provide a cleaning device 10, which can include the chassis structure 100 in any of the above embodiments.

[0119] The cleaning device 10 provided by the embodiments of the present application has high obstacle passing reliability of the chassis body 110, and can have high obstacle passing accuracy, which is beneficial to improve the stability of the chassis body 110 during obstacle passing, and ensure the cleaning efficiency and cleaning effect.

[0120] In some examples, the cleaning device 10 can also include a rolling brush. The rolling brush can be arranged on the side of the chassis structure 100 facing the cleaning surface. The rotation of the rolling brush can collect dust, hair and other dirt on the cleaning surface. During the obstacle passing of the cleaning device 10, the lifting of the chassis body 110 can prevent the rolling brush from being rubbed by the obstacle, so as to protect the rolling brush and improve the service life of the rolling brush.

[0121] The cleaning device 10 can also include an edge brush. The edge brush can be located at the side of the chassis structure 100. The edge brush can be used to clean the sanitary dead angle such as the corner. The edge brush can effectively stir the dust in the corner and collect it, and then the rolling brush can transport the dirt to the dust box. During the obstacle passing of the cleaning device 10, the lifting of the chassis body 110 can prevent the edge brush from being rubbed by the obstacle, which is beneficial to reduce the possibility of damage or falling of the edge brush.

[0122] The cleaning device 10 can further include a mop. The mop can be fixed to one side of the chassis structure 100 facing the surface to be cleaned. During the obstacle crossing process of the cleaning device 10, the lifting of the chassis body 110 can prevent the side brush from being entangled with the obstacle, so as to ensure the normal operation of the cleaning device 10.

[0123] The embodiments of the present application also provide a cleaning system, which can include a base station and the cleaning device 10. The cleaning device 10 can be placed on the base station.

[0124] The base station can have a charging function. When the cleaning device 10 is placed on the base station, the base station can charge the cleaning device 10.

[0125] The base station can also have a cleaning function. When the cleaning device 10 is placed on the base station, the structures such as the roller brush, the mop, and the side brush on the cleaning device 10 can be cleaned.

[0126] It should be noted that the numerical values and numerical ranges involved in the present application are approximate values, and there can be a certain range of errors due to the manufacturing process, which can be considered negligible by those skilled in the art.

[0127] In the description of the embodiments of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be indirect connection through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0128] In the description of the present application, it should be understood that the terms "center", "length", "width", "thickness", "top end", "bottom end", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inner", "outer", "axial", "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 do not indicate or imply that the position or element referred to must have a particular orientation, a particular configuration and operation, and therefore cannot be understood as a limitation on the present application.

[0129] In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified and limited.

[0130] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present application, and above-described drawings, if any, are used to distinguish between similar objects and not necessarily for describing a specific sequential or chronological order. It is to be understood that the use of the terms so construed herein is merely an aid to

[0131] Moreover, the terms "comprising" and "having" and any variations thereof used herein are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or apparatus that comprises a list of steps or units not necessarily limited to those expressly identified, but can include other not expressly identified steps or units inherent therein.

[0132] The term "a plurality" herein refers to two or more. The term "and / or" herein merely describes an associated relationship between associated objects, which means that there can be three relationships, for example, A and / or B, which can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally represents that the associated objects before and after are in an "or" relationship; in the formula, the character " / " represents that the associated objects before and after are in a "division" relationship.

[0133] It can be understood that various numerical numbers involved in the embodiments of the present application are only distinguished for convenience of description, and do not limit the scope of the embodiments of the present application.

[0134] It can be understood that the size of the serial number of each process in the embodiments of the present application does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Claims

1. A chassis structure (100), characterized in that, The utility model relates to a cleaning robot, including: A chassis body (110); A drive wheel (120) including a roller (121) and a support (122), the roller (121) rotatable connection is in the support (122), the support (122) is rotatable connection through pivot (123) in the chassis body (110), be equipped with the lifting portion (1221) on the support (122); A drive assembly (130) is arranged in the chassis body (110), and the drive assembly (130) includes swing drive part (131), and the swing drive part (131) is connected with the lifting portion (1221), and the swing drive part (131) rotates in the positive direction or the reverse direction to make the chassis body (110) have lifting position and normal position, and the chassis body (110) moves between the lifting position and the normal position.

2. The base pan structure (100) according to claim 1, characterized in that Along the direction of travel (X) of the chassis body (110), the chassis body (110) has a first end (110a) and a second end (110b); When the chassis body (110) is in the lifting position, the distance between at least one of the first end (110a) and the second end (110b) and the surface to be cleaned increases.

3. The base pan structure (100) according to claim 2, characterized in that Along the direction of travel (X) of the chassis body (110), the first end (110a) is located on the front side of the chassis body (110); When the chassis body (110) is in the lifting position, the chassis body (110) is inclined relative to the surface to be cleaned, the distance between the first end (110a) and the surface to be cleaned increases, and the distance between the second end (110b) and the surface to be cleaned remains unchanged.

4. The chassis structure (100) according to any one of claims 1 to 3, characterized in that The roller (121) and the pivot (123) have a spacing along the direction of travel (X) of the chassis body (110).

5. The base pan structure (100) according to claim 4, characterized in that Along the height direction (Y) of the chassis body (110), the pivot (123) and the lifting portion (1221) have a spacing.

6. The base pan structure (100) as claimed in claim 4, characterized in that, Along the direction of travel (X) of the chassis body (110), the swing drive part (131) has a driving surface (131a) towards the roller (121), the swing drive part (131) rotates in the positive direction to make the lifting portion (1221) move in the direction of the roller (121), and the swing drive part (131) drives the chassis body (110) to move in the direction of the lifting position; The swing drive part (131) rotates in the reverse direction to make the lifting portion (1221) move in the direction away from the roller (121), and the chassis body (110) moves in the direction of the normal position.

7. The chassis structure (100) according to claim 6, characterized in that The swing driving member (131) has an auxiliary surface (131b) with an included angle with the driving surface (131a), and the auxiliary surface (131b) and the driving surface (131a) form a space that can accommodate part of the lifting part (1221), and the auxiliary surface (131b) is used to connect with the lifting part (1221) when the chassis body (110) moves towards the normal position, to assist the chassis body (110) to reset.

8. The chassis structure (100) according to claim 4, characterized in that The driving assembly (130) further comprises a power unit (132) and a transmission unit (133), one end of the transmission unit (133) is connected with the power unit (132), and the other end of the transmission unit (133) is connected with the swing driving member (131), and the power unit (132) drives the swing driving member (131) to rotate forward or reverse through the transmission unit (133).

9. The chassis structure (100) according to claim 8, characterized in that The transmission unit (133) comprises a worm (1331) and a worm gear (1332) that move in coordination, the worm (1331) is connected with the power unit (132), and the worm gear (1332) is connected with the swing driving member (131).

10. The chassis structure (100) according to claim 4, characterized in that The driving wheel (120) further comprises an auxiliary wheel (124) arranged on the support (122), and the auxiliary wheel (124) is used to overcome obstacles when the chassis body (110) encounters the obstacles.

11. The chassis structure (100) according to claim 8, characterized in that Further comprising a Hall code disc connected with the power unit (132), and the Hall code disc is used to control the operating parameters of the power unit (132).

12. A cleaning apparatus (10) characterised in that, The chassis structure (100) as claimed in any one of claims 1 to 11.

13. A cleaning system characterized by, The base station; And the cleaning device (10) as claimed in claim 12, which can be placed on the base station. The base station;

Images