Cleaning robot and cleaning system

Abstract

The utility model relates to a cleaning robot and a cleaning system. The cleaning robot comprises a body and a lifting mechanism, and the lifting mechanism is arranged on the body and used for driving at least one side of the body to be lifted. The lifting mechanism comprises at least two walking assemblies, a transmission assembly and a driving assembly, each walking assembly comprises a wheel shell and a wheel rotationally arranged on the wheel shell, the wheel shells are connected with the body, the transmission assembly is connected with the at least two wheel shells, and the driving assembly is connected with the transmission assembly. In the process that the driving assembly drives the transmission assembly to move from the first position to the second position, the transmission assembly applies acting force facing the target face to at least one of the at least two wheel shells, so that the first side of the body is driven to be lifted relative to the target face when the at least two wheel bodies are supported on the target face. The cleaning robot in the embodiment of the utility model can autonomously get out of trouble and pass through the obstacle through the lifting mechanism, a user does not need to frequently intervene manually, and the use experience of the user is improved.

Description

TECHNICAL FIELD

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

[0002] The cleaning robot can not only clean on the unobstructed ground, but also enter some low scenes such as sofa bottom and bed bottom to clean, which requires that the overall height of the cleaning robot cannot be too high. In order to ensure the cleaning effect, the cleaning modules such as side brushes, middle brushes and mops also need to be close to the ground.

[0003] However, when the cleaning robot passes through obstacles such as carpets, wires or doorsteps, the bottom plate of the cleaning robot is relatively low, and the cleaning robot chooses to avoid the obstacles when it cannot pass through normally, which causes the cleaning robot to be unable to clean the garbage on the carpet or to pass through the obstacles such as doorsteps and wires. CONTENT OF THE UTILITY MODEL

[0004] The present disclosure provides a cleaning robot and a cleaning system, which aims to at least solve one of the technical problems existing in the prior art.

[0005] The present disclosure provides a cleaning robot, which comprises:

[0006] a body; and

[0007] a lifting mechanism arranged on the body and used to lift at least one side of the body, the lifting mechanism comprising:

[0008] at least two walking assemblies, each of which comprises a wheel housing and a wheel body rotatably arranged on the wheel housing, the wheel body being supported on a target surface and used to move the cleaning robot, and the wheel housing being connected with the body;

[0009] a transmission assembly connected with the at least two wheel housings respectively; and

[0010] a driving assembly connected with the transmission assembly and used to drive the transmission assembly to move;

[0011] At least two of the walking assemblies are arranged on different sides of the body, and in the process that the driving assembly drives the transmission assembly to move from a first position to a second position, the transmission assembly applies an action force to at least one of the wheel housings towards the target surface, so that at least one of the wheel bodies is supported on the target surface to lift a first side of the body relative to the target surface, the first side of the body being the side of the wheel housing on which the action force is applied.

[0012] In some embodiments, the transmission assembly abuts against or slides against the wheel housing to apply the force to the wheel housing during movement from the first position to the second position.

[0013] In some embodiments, the transmission assembly comprises a force applying member which is driven by the driving assembly to move from the first position to the second position to abut against or slide against the wheel housing.

[0014] In some embodiments, the transmission assembly further comprises a transmission member connected to the force applying member, the transmission member being driven by the driving assembly to move and drive the force applying member to move.

[0015] In some embodiments, the driving assembly comprises a driving member and a transmission member connected to the driving member, the driving member driving the transmission member to move within the transmission member.

[0016] In some embodiments, the at least two walking assemblies comprise at least one driving walking assembly and at least one non-driving walking assembly, the at least one driving walking assembly and the at least one non-driving walking assembly being arranged at different sides of the body.

[0017] In some embodiments, the transmission assembly comprises a first transmission assembly;

[0018] The first transmission assembly is connected to the wheel housing of the non-driving walking assembly, the first transmission assembly abutting against the wheel housing of the non-driving walking assembly to apply the force to the wheel housing of the non-driving walking assembly during movement from the first position to the second position.

[0019] In some embodiments, the wheel housing of the driving walking assembly is rotatably arranged on the body by a rotating shaft;

[0020] The transmission assembly comprises a second transmission assembly, one of the wheel housing of the driving walking assembly and the second transmission assembly is provided with a guide wheel, and the other is provided with a connecting member abutting against the guide wheel;

[0021] The second transmission assembly slides the guide wheel against the connecting member to apply the force to the wheel housing of the driving walking assembly during movement from the first position to the second position.

[0022] In some embodiments, the connecting member is provided with a guide portion matched with the guide wheel;

[0023] At least part of the movement path of the guide wheel is located on the guide portion during the relative sliding of the guide wheel and the connecting member.

[0024] In some embodiments, the guide portion comprises two guide strips arranged at intervals, and a guide groove adapted to the guide wheel is formed between the two guide strips.

[0025] In some embodiments, the transmission assembly further comprises a cylinder body, and the force applying member is movably connected to the cylinder body.

[0026] The force applying member is connected to the transmission member through the cylinder body, and the driving member drives the transmission member to move in and out of the cylinder body through the transmission member, so as to drive the force applying member to move between the first position and the second position.

[0027] In some embodiments, the transmission assembly comprises at least two cylinder bodies, and the at least two cylinder bodies are connected to the at least two walking assemblies one by one.

[0028] The transmission member comprises a transmission main pipe and at least two transmission branch pipes, and the at least two transmission branch pipes are in one-to-one correspondence with the at least two cylinder bodies.

[0029] In some embodiments, the lifting mechanism further comprises at least one control component, an output port of the control component is in communication with the at least two transmission branch pipes, and an input port of the control component is in communication with one end of the transmission main pipe, and the other end of the transmission main pipe is in communication with the driving member.

[0030] In some embodiments, the control component comprises a two-position three-way electromagnetic valve, and the at least two cylinder bodies are in communication with the output ports of the two-position three-way electromagnetic valve.

[0031] The control component comprises two two-position three-way electromagnetic valves, and the at least two cylinder bodies are in communication with the output ports of the two two-position three-way electromagnetic valves, respectively.

[0032] The control component comprises a three-position four-way electromagnetic valve, and the at least two cylinder bodies are in communication with different output ports of the three-position four-way electromagnetic valve, respectively.

[0033] In some embodiments, the lifting mechanism further comprises a one-way valve, which is arranged on the transmission main pipe and is used to control the flow of fluid in the transmission main pipe from the driving member to the control component.

[0034] The embodiments of the present disclosure also provide a cleaning system, comprising:

[0035] a base station; and

[0036] The cleaning robot is maintained in the base station.

[0037] Compared with the prior art, the cleaning robot in the embodiment of the present disclosure has at least the following beneficial effects:

[0038] The cleaning robot, the lifting mechanism is installed on the body of the cleaning robot, and one side of the cleaning robot or the whole cleaning robot can be lifted through the lifting mechanism. Since the transmission assembly is connected with the at least two wheel housings respectively, and the at least two wheel housings are located at different sides of the body. When the lifting mechanism needs to drive the body to lift, the transmission assembly is driven to move by the driving assembly. In the process of moving the transmission assembly from the first position to the second position, the transmission assembly applies a force (such as a downward pressure or a downward pull, etc.) to the wheel housings on the same side towards the target surface, so that when the wheel bodies are supported on the target surface, the corresponding side of the body is lifted relative to the target surface. Alternatively, the transmission assembly applies a force to the wheel housings on at least two different sides towards the target surface, so that when the at least two wheel bodies are supported on the target surface, the corresponding at least two sides or the whole body is lifted relative to the target surface, completing the lifting of at least one side or the whole body relative to the target surface.

[0039] In this way, the cleaning robot can drive at least one side of the body to lift through the lifting mechanism, so that when encountering obstacles such as carpets, wires, doorsteps, etc., the lifting mechanism can lift at least one side of the body or the whole body to avoid being stuck or unable to pass through, improving the passability of the cleaning robot. Moreover, when the cleaning robot is stuck by obstacles such as carpets, wires, etc., the lifting mechanism can lift at least one side of the body or the whole body to help the cleaning robot get out of trouble, avoid the cleaning robot from being stuck and unable to continue working, improve the autonomy and reliability of the cleaning robot, and reduce the need for manual intervention.

[0040] In addition, the lifting mechanism of the cleaning robot can selectively lift a certain side of the body (such as head lifting or whole body lifting) as needed, so as to adapt to different obstacles and ground environments, so that the cleaning robot can select the appropriate lifting method in different scenarios, improving the adaptability and versatility of the cleaning robot.

[0041] In summary, the cleaning robot can autonomously get out of trouble and pass through obstacles through the lifting mechanism, and the user does not need to frequently manually intervene, improving the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the solutions in the present disclosure, the drawings required to be used in the following embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments or corresponding prior art of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative effort. Among them:

[0043] Figure 1 is a partial structure schematic diagram of a cleaning robot in a non-lifting state in an embodiment of the present disclosure Figure 1 ;

[0044] Figure 2 is a partial structure schematic diagram of a cleaning robot in a non-lifting state in an embodiment of the present disclosure Figure 2 ;

[0045] Figure 3 is a structure schematic diagram of a lifting mechanism in Figure 2 ;

[0046] Figure 4 is a partial structure schematic diagram of a cleaning robot in a lifting state in an embodiment of the present disclosure Figure 1 ;

[0047] Figure 5 is a partial structure schematic diagram of a cleaning robot in a lifting state in an embodiment of the present disclosure Figure 2 ;

[0048] Figure 6 is a structure schematic diagram of a lifting mechanism in Figure 5 ;

[0049] Figure 7 is a structure schematic diagram of a non-driven walking assembly and a first transmission assembly in connection in Figure 6 ;

[0050] Figure 8 is a structure schematic diagram of a driven walking assembly and a second transmission assembly in connection in Figure 6 ;

[0051] Figure 9 is an enlarged schematic diagram of A in Figure 8 ;

[0052] Figure 10 is a structure schematic diagram of a connecting piece and a force applying piece in connection in Figure 8 ;

[0053] Figure 11 is a principle schematic diagram of a control component and a transmission assembly in connection in an embodiment of the present disclosure

[0054] Figure 12 is a principle schematic diagram of a control component and a transmission assembly in connection in another embodiment of the present disclosure

[0055] Figure 13 is a schematic diagram of the principle of connecting the control component and the transmission assembly in another embodiment of the present disclosure;

[0056] Figure 14 is a structural schematic diagram of the cleaning system in an embodiment of the present disclosure.

[0057] The reference signs in the drawings are as follows:

[0058] 10000, cleaning system;

[0059] 1000, cleaning robot; 100, body; 200, lifting mechanism; 210, walking assembly; 211, wheel housing; 212, wheel body; 213, driving walking assembly; 214, non-driving walking assembly; 220, transmission assembly; 221, force applying member; 222, first transmission assembly; 223, second transmission assembly; 224, transmission member; 226, cylinder body; 230, driving assembly; 231, driving member; 232, transmission member; 2321, transmission main pipe; 2322, transmission branch pipe; 240, rotating shaft; 250, guide wheel; 260, connecting member; 261, guide part; 2611, guide bar; 2612, guide groove; 270, control component; 271, two-position three-way electromagnetic valve; 272, three-position four-way electromagnetic valve; 280, one-way valve; 290, mounting rack;

[0060] 2000, target surface;

[0061] 3000, base station. DETAILED DESCRIPTION

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs; the terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure, for example, the terms "length", "width", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like specify relative positions according to the orientations shown in the drawings and are merely used for convenience in describing the present technical solution and cannot be understood as a limitation thereof.

[0063] The terms "comprise", "have" and any variations thereof in the specification and claims of the present disclosure and the above description of the drawings are intended to cover not exclusive inclusion; the terms "first", "second" and the like in the specification and claims of the present disclosure or the above description of the drawings are used to distinguish different objects and are not used to describe a specific order. The meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0064] In the description and claims of the instant disclosure, and in the above description of the drawings, terms such as "above", "below", "upper", "lower", "up", "down", "top", "bottom", "over", "under", "lateral", "vertical", "horizontal", and the like, are used as a shorthand but each is intended to encompass different orientations of the device or article using such terminology. For example, "over" can encompass both an orientation of the foregoing device or article above as well as below. Such terms are in addition to the more specific structural or positional relationships described herein.

[0065] Also, any reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the disclosure. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. It is expressly understood that the embodiments described herein are merely examples from a potentially wide number of embodiments that can be claimed.

[0066] In the related art, in order to meet the cleaning needs, the cleaning robot is usually designed to have a low chassis. However, the low chassis often causes the cleaning robot to be unable to pass through obstacles such as a rug, a wire, or a threshold, and can only choose to avoid, which not only makes the cleaning robot unable to clean the garbage on the rug, but also can cause the cleaning robot to be unable to escape or pass through the threshold, affecting the cleaning effect and user experience. Therefore, a head lifting mechanism is proposed to meet the needs of the cleaning robot to pass through obstacles, but this design still cannot effectively solve the problem of the robot passing through the rug or the wire.

[0067] Based on this, the inventor proposes a new design scheme, the cleaning robot can drive at least one side of the body to be lifted by the lifting mechanism, so that when encountering obstacles such as a rug, a wire, or a threshold, the lifting mechanism can lift one side or the whole body of the body to avoid being stuck or unable to pass through, thereby improving the passability of the cleaning robot. Moreover, when the cleaning robot is stuck by obstacles such as a rug or a wire, the lifting mechanism can lift one side or the whole body of the body to help the cleaning robot escape from the predicament, thereby avoiding the cleaning robot from being unable to continue working due to being stuck, improving the autonomy and reliability of the cleaning robot, and reducing the need for manual intervention.

[0068] The embodiments of the disclosure provide a cleaning robot, such as Figure 1 , Figure 3 and Figure 14As shown, the cleaning robot 1000 comprises a body 100 and a lifting mechanism 200, wherein the lifting mechanism 200 is arranged on the body 100 of the cleaning robot 1000, and the lifting mechanism 200 is used to lift at least one side of the body 100 of the cleaning robot 1000. With reference to the advancing direction X of the cleaning robot 1000 when performing a cleaning task, the body 100 can comprise a front side X1, a rear side X2, a left side X3, a right side X4, or other sides, etc. The other side can be a side other than the front side X1, the rear side X2, the left side X3, and the right side X4, for example, a side between the front side X1 and the left side X3, and for example, a side between the front side X1 and the right side X4. It should be noted that the universal wheel can be arranged on the front side X1, or the universal wheel can also be arranged on the rear side X2.

[0069] In some embodiments, the lifting mechanism 200 can lift one side of the body 100, for example, the lifting mechanism 200 can lift any one of the front side, the rear side, the left side, the right side, or the other side of the body 100, for example, to facilitate the cleaning robot 1000 to cross the threshold; in some embodiments, the lifting mechanism 200 can lift two sides of the body 100, for example, the lifting mechanism 200 can lift any two of the front side, the rear side, the left side, the right side, or the other side of the body 100, for example, to lift the left side and the right side of the body 100; in some embodiments, the lifting mechanism 200 can lift three sides of the body 100, for example, the lifting mechanism 200 can lift any three of the front side, the rear side, the left side, the right side, or the other side of the body 100, for example, to lift the front side, the left side, and the right side of the body 100, so that the body 100 can be lifted as a whole.

[0070] When the cleaning robot 1000 encounters an obstacle (for example, a low step, a threshold, etc.), the lifting mechanism 200 lifts one side of the body 100 of the cleaning robot 1000, or lifts the whole body 100 of the cleaning robot 1000, so as to facilitate the cleaning robot 1000 to overcome the obstacle; of course, the lifting mechanism 200 can also assist the cleaning robot 1000 to meet the lifting requirements of other functions, for example, the cleaning robot 1000 sweeps something in front of it with a certain height during walking, etc.

[0071] It should be noted that the cleaning robot 1000 described herein includes but is not limited to a sweeping machine, a mopping machine, a sweeping and mopping integrated machine, etc., wherein the body shape of the cleaning robot 1000 can adopt various shapes, including but not limited to a circular body, a square body, a D-shaped body, other combined circular and square bodies, etc. The body is usually provided with a control system, a power system, etc., and the bottom thereof can be provided with a walking assembly 210, and the systems and assemblies work together to perform cleaning work. The target surface 2000 described herein can be a working surface, for example, a surface to be cleaned (such as a floor surface, a wall surface, a roof surface, a table surface, a glass surface, a door, a road surface, etc.); it can also be a driving surface for the cleaning robot 1000 to drive (such as a floor surface, a lawn, a road surface, a roof surface, a table surface, a glass surface, etc. for the cleaning robot 1000 to drive); it can also be a supporting surface to support the cleaning robot 1000; it can also be an acted surface to which an action is applied; in general, the target surface 2000 includes but is not limited to a floor surface, a road surface, a wall surface, a roof surface, a glass surface, a door, a table surface, an obstacle surface, etc., and the specific surface can be determined according to the actual situation.

[0072] Specifically, as shown in Figures 1 to 3 , the lifting mechanism 200 includes a walking assembly 210, a transmission assembly 220, and a driving assembly 230.

[0073] Specifically, as shown in Figures 1 to 3 , the walking assembly 210 is provided with at least two, each walking assembly 210 including a wheel shell 211 and a wheel body 212, wherein the wheel body 212 is rotationally arranged on the wheel shell 211. The wheel body 212 is supported on the target surface 2000 and is used to move the cleaning robot 1000. The wheel shell 211 is connected with the body 100 of the cleaning robot 1000.

[0074] Specifically, as shown in Figure 3As shown, the transmission assembly 220 is connected with at least two wheel housings 211 respectively. The driving assembly 230 is connected with the transmission assembly 220, and the driving assembly 230 is used to drive the transmission assembly 220 to move. It can be understood that the transmission assembly 220 is connected with at least two of all the wheel housings 211 of the cleaning robot 1000 respectively, that is, the transmission assembly 220 transmits the power of the driving assembly 230 to at least two of the wheel housings 211. For example, when the lifting mechanism 200 includes three walking assemblies 210, corresponding to three wheel housings 211, the transmission assembly 220 can be connected with only two of the three wheel housings 211, or can be connected with all the three wheel housings 211. Among them, at least two walking assemblies 210 are arranged at different sides of the body 100. In the process of driving the transmission assembly 220 to move from the first position to the second position by the driving assembly 230, the transmission assembly 220 applies a force to at least one of the at least two wheel housings 211, the force is towards the target surface 2000, so that when the at least one wheel body 212 is supported on the target surface 2000, the first side of the body 100 is lifted relative to the target surface 2000.

[0075] It should be noted that the first side of the body 100 is the side where the wheel housing 211 subjected to the force is located.

[0076] It should be noted that at least two walking assemblies 210 are arranged at different sides of the body 100, which can be understood as that all the walking assemblies 210 are arranged at different sides of the body 100. For example, the lifting mechanism includes three walking assemblies 210, which are arranged at the rear side, the left side and the right side of the body 100 respectively (for example, the three walking assemblies 210 are two drive wheels and one universal wheel, the two drive wheels are arranged at the left side and the right side respectively, and the universal wheel is arranged at the rear side); for example, the lifting mechanism includes two walking assemblies 210, which are arranged at the rear side and the middle of the body 100 respectively (for example, the two walking assemblies 210 are one drive wheel and one universal wheel, the drive wheel is a caterpillar drive wheel and is arranged at the middle of the body 100, and the universal wheel is arranged at the rear side); it can also be understood that at least two of all the walking assemblies 210 are arranged at different sides of the body 100. For example, the lifting mechanism includes four walking assemblies 210, which are arranged at the left side and the right side of the body 100 respectively (for example, the four walking assemblies 210 are four drive wheels, two of which are arranged at the left side and the other two are arranged at the right side).

[0077] When the transmission assembly 220 applies force to one or two or more than two wheel housings 211, at least one wheel body 212 supports the target surface 2000 and drives the first side of the body 100 to lift relative to the target surface 2000. For example, the lifting mechanism includes two walking assemblies 210 arranged on the rear side and middle of the body 100, and the two walking assemblies 210 are respectively a driving wheel and a universal wheel. The driving wheel is a track-type driving wheel arranged in the middle of the body 100, and the universal wheel is arranged on the rear side. When the transmission assembly 220 only applies force to the wheel housing of the track-type driving wheel, the track-type driving wheel supports the target surface 2000 and drives the front side of the body 100 to lift relative to the target surface 2000. At this time, the universal wheel also supports the target surface 2000, or simultaneously drives the rear side of the body 100 to lift relative to the target surface 2000. At this time, the universal wheel is lifted with the body 100 and lightly touches the target surface 2000 or is in a suspended state. The track-type driving wheel can be arranged on the body 100 in different ways to correspondingly realize the lifting of the front side or the rear side of the body 100. The specific arrangement can be adjusted according to actual needs. When the transmission assembly 220 simultaneously applies force to the wheel housings 211 of the track-type driving wheel and the universal wheel, the track-type driving wheel and the universal wheel support the target surface 2000 and simultaneously drive the middle and rear sides of the body 100 to lift relative to the target surface 2000 (at this time, it can also be understood as the whole body 100 is lifted).

[0078] In summary, compared with the prior art, the cleaning robot 1000 in the embodiment of the present disclosure has at least the following beneficial effects:

[0079] The lifting mechanism 200 is installed on the body 100 of the cleaning robot 1000, and the lifting mechanism 200 can lift one side or the whole of the cleaning robot 1000. Since the transmission assembly 220 is connected with at least two wheel housings 211 respectively, and the at least two wheel housings 211 are located on different sides of the body 100. When the lifting mechanism 200 needs to drive the body 100 to lift, the driving assembly 230 drives the transmission assembly 220 to move. During the movement of the transmission assembly 220 from the first position to the second position, the transmission assembly 220 applies force (such as downward pressure or downward pulling force, etc.) to the wheel housings 211 on the same side towards the target surface 2000, so that the wheel body 212 supports the target surface 2000 and drives the corresponding side of the body 100 to lift relative to the target surface 2000. Alternatively, the transmission assembly 220 applies force to the wheel housings 211 on at least two different sides towards the target surface 2000, so that at least two wheel bodies 212 support the target surface 2000 and drive the corresponding at least two sides or the whole of the body 100 to lift relative to the target surface 2000, thereby completing the lifting of at least one side or the whole of the body 100 relative to the target surface 2000.

[0080] In this way, the cleaning robot 1000 can drive at least one side of the body 100 to be lifted by the lifting mechanism 200, so that when encountering obstacles such as carpets, wires, doorsteps, etc., the at least one side of the body 100 can be lifted or the whole body 100 can be lifted by the lifting mechanism 200 to avoid being stuck or unable to pass through, thereby improving the passability of the cleaning robot 1000. Moreover, when the cleaning robot 1000 is stuck by obstacles such as carpets, wires, etc., the lifting mechanism 200 can lift at least one side of the body 100 or the whole body 100 to help the cleaning robot 1000 get out of trouble, thereby avoiding the cleaning robot 1000 from being unable to continue working due to being stuck, improving the autonomy and reliability of the cleaning robot 1000, and reducing the need for manual intervention.

[0081] In addition, the lifting mechanism 200 of the cleaning robot 1000 can selectively lift one side of the body 100 (such as head lifting or whole body lifting) as needed, thereby adapting to different obstacles and ground environments, so that the cleaning robot 1000 can select an appropriate lifting method in different scenarios, thereby improving the adaptability and versatility of the cleaning robot 1000.

[0082] In summary, the cleaning robot 1000 can autonomously get out of trouble and pass through obstacles by the lifting mechanism 200, and the user does not need to frequently manually intervene, thereby improving the user experience.

[0083] Specifically, the walking assembly 210 can be provided with two, three, four, etc., and in the embodiments of the present disclosure, the number of the walking assembly 210 is not specifically limited. The wheel body 212 in the walking assembly 210 can be selected as a roller or a track, and in the embodiments of the present disclosure, the type of the wheel body 212 is not specifically limited.

[0084] For example, the two walking assemblies 210 are arranged on the front side and the rear side of the body 100 of the cleaning robot 1000 respectively. Each walking assembly 210 comprises a wheel housing 211 and a wheel body 212 rotatably mounted on the wheel housing 211. The wheel body 212 is in contact with the ground, supports the cleaning robot 1000 and enables the movement of the cleaning robot 1000, and the wheel housing 211 is connected with the body 100. The transmission assembly 220 is connected with the two wheel housings 211 respectively, and the driving assembly 230 is connected with the transmission assembly 220 for driving the movement of the transmission assembly 220. When the cleaning robot 1000 encounters an obstacle such as a threshold, if only the front side needs to be lifted, the driving assembly 230 drives the movement of the transmission assembly 220. In the process of moving the transmission assembly 220 from the first position to the second position, the transmission assembly 220 applies an action force, for example, a downward pressure, to the wheel housing 211 of the walking assembly 210 on the front side. At this time, the wheel body 212 on the front side is still supported on the ground, and under the action of the downward pressure, the wheel housing 211 on the front side drives the upward lifting of the front side of the body 100, so that the front side of the cleaning robot 1000 can smoothly pass through the threshold. If an obstacle such as a thick carpet is encountered, the whole body may need to be lifted. At this time, the driving assembly 230 drives the movement of the transmission assembly 220, and the transmission assembly 220 applies an action force to the wheel housings 211 of the walking assemblies 210 on the front side and the rear side. The wheel bodies 212 on the front side and the rear side are supported on the ground, and under the joint action of the two action forces, the wheel housings 211 on the front side and the rear side drive the upward lifting of the whole body 100, so that the cleaning robot 1000 can move normally on the carpet and avoid sinking into it.

[0085] For example, two walking assemblies 210 are provided, and are located on the left and right sides of the body 100 of the cleaning robot 1000. Each walking assembly 210 comprises a wheel housing 211 and a wheel body 212 rotatably mounted on the wheel housing 211, wherein the wheel bodies 212 on the left and right sides are round rollers, and are in contact with the ground to support the cleaning robot 1000 and enable it to move, and the wheel housing 211 is connected to the body 100. A transmission assembly 220 is connected to the two wheel housings 211, and a driving assembly 230 is connected to the transmission assembly 220, for driving the transmission assembly 220 to move. When the cleaning robot 1000 encounters an obstacle such as a threshold, if only the left side of the body 100 needs to be lifted, the driving assembly 230 drives the transmission assembly 220 to move. In the process of the transmission assembly 220 moving from the first position to the second position, the transmission assembly 220 applies an action force, for example, a downward pressure, to the wheel housing 211 of the walking assembly 210 on the left side towards the ground. At this time, the wheel body on the left side is still supported on the ground, and under the action of the downward pressure, the wheel housing on the left side drives the left side of the body 100 to lift upwards, so that the left side of the cleaning robot 1000 can smoothly pass over the threshold. If an obstacle such as a thick carpet is encountered, the entire body may need to be lifted. At this time, the driving assembly 230 drives the transmission assembly 220 to move, and the transmission assembly 220 applies an action force to the wheel housings 211 of the walking assemblies 210 on the left and right sides towards the ground. The wheel bodies on the left and right sides are both supported on the ground, and under the joint action of the two action forces, the wheel housings on the left and right sides together drive the entire body 100 to lift upwards, so that the cleaning robot 1000 can move normally on the carpet and avoid sinking into it.

[0086] For example, the two walking assemblies 210 are arranged on the front side and the middle part of the body 100 of the cleaning robot 1000. Each walking assembly 210 comprises a wheel housing 211 and a wheel body 212 rotatably mounted on the wheel housing 211. For example, the wheel body 212 on the front side is a universal wheel, and the wheel body 212 on the middle part is a track. The two wheel bodies 212 are in contact with the ground, support the cleaning robot 1000 and enable the cleaning robot 1000 to move, and the wheel housing 211 is connected to the body 100. The transmission assembly 220 is connected to the two wheel housings 211, and the driving assembly 230 is connected to the transmission assembly 220, for driving the transmission assembly 220 to move. When the cleaning robot 1000 encounters an obstacle such as a threshold, if only the front side of the body 100 needs to be lifted, the driving assembly 230 drives the transmission assembly 220 to move, and in the process of moving the transmission assembly 220 from the first position to the second position, the transmission assembly 220 applies an action force, for example, a downward pressure, to the wheel housing 211 of the walking assembly 210 on the front side. At this time, the wheel body on the front side is still supported on the ground, and under the action of the downward pressure, the wheel housing on the front side drives the front side of the body 100 to be lifted upward, so that the front side of the cleaning robot 1000 can smoothly pass over the threshold. If an obstacle such as a thick carpet is encountered, the entire body may need to be lifted. At this time, the driving assembly 230 drives the transmission assembly 220 to move, and the transmission assembly 220 applies an action force to the wheel housings 211 of the walking assemblies 210 on the front side and the middle part. The wheel bodies on the front side and the middle part are supported on the ground, and under the joint action of the two action forces, the wheel housings on the front side and the middle part together drive the entire body 100 to be lifted upward, so that the cleaning robot 1000 can normally move on the carpet and avoid sinking into the carpet.

[0087] For example, the walking assembly 210 is provided with three, and the three walking assemblies 210 are respectively located at the front side and the left and right sides of the body 100 of the cleaning robot 1000 (for example, a common three-wheel layout, the front side is a universal wheel, and the left and right sides are drive wheels). When the cleaning robot 1000 encounters an obstacle, for example, when encountering a wire across in front, if only the front side needs to be lifted to cross the wire, the drive assembly 230 drives the transmission assembly 220 to move. In the process of the transmission assembly 220 moving from the initial first position to the second position, the transmission assembly 220 will apply a force, for example, a downward pressure, to the wheel housings 211 of the walking assemblies 210 on the front side towards the target surface 2000. At this time, the front wheel bodies 212 are still stably supported on the target surface 2000, and under the action of the downward pressure, the front wheel housings 211 drive the front side of the body 100 to lift upward, helping the cleaning robot 1000 to easily cross the wire. If a higher threshold is encountered, the entire body may need to be lifted. At this time, the drive assembly 230 is started to drive the transmission assembly 220 to move, and the transmission assembly 220 will simultaneously apply a force to the wheel housings 211 on the front side and the left and right sides towards the target surface 2000. The three wheel bodies 212 are jointly supported on the target surface 2000, and under the synergistic action of the three forces, the wheel housings 211 on the front side and the left and right sides jointly exert force to drive the entire body 100 to lift upward, so that the cleaning robot 1000 can smoothly cross the threshold.

[0088] Specifically, the transmission assembly 220 can be selected from a linkage transmission structure, a gear and rack transmission structure, a screw and nut transmission structure, a hydraulic transmission structure, or an air pressure transmission structure, and the like. In the embodiments of the present disclosure, the type of the transmission assembly 220 is not specifically limited.

[0089] Specifically, the transmission assembly 220 can be provided with one or more. If one transmission assembly 220 is provided, the one transmission assembly 220 is connected with the at least two wheel housings 211, respectively. If multiple transmission assemblies 220 are provided, the multiple transmission assemblies 220 are connected with the at least two wheel housings 211, respectively. It can be understood that one transmission assembly 220 can be connected with one, two, or more wheel housings 211, that is, the transmission assembly 220 and the wheel housing 211 can be connected one by one, or one transmission assembly 220 can be connected with two or more wheel housings 211. In the embodiments of the present disclosure, the number of the transmission assembly 220 is not specifically limited.

[0090] Specifically, the driving assembly 230 can be selected from a motor driving assembly, a pneumatic driving assembly, a hydraulic driving assembly, etc. Similarly, the driving assembly 230 can be provided with one or more, and it can be understood that one driving assembly 230 can be connected with one, two or more than two transmission assemblies 220, that is, the driving assembly 230 and the transmission assembly 220 can be connected in one-to-one correspondence, or one driving assembly 230 can be connected with two or more than two transmission assemblies 220. In the embodiments of the present disclosure, the type and number of the driving assembly 230 are not specifically limited.

[0091] For example, the transmission assembly 220 is in the form of a connecting rod transmission structure, and the driving assembly 230 is in the form of a motor. When the driving assembly 230 rotates, it drives the driving connecting rod connected thereto to move, and the driving connecting rod drives other connecting rods to move in sequence through the joints. During the lifting process of the cleaning robot 1000, when one side needs to be lifted, the driving assembly 230 drives the connecting rod transmission structure to move, and a specific connecting rod applies a downward pressure or a pulling force to the wheel shell body 211 on the same side, so as to realize the lifting of the body 100 on the side. If the whole body 100 needs to be lifted, the connecting rod transmission structure will simultaneously apply corresponding forces to the wheel shell bodies 211 on different sides.

[0092] In order for those skilled in the art to better understand the technical solutions of the present disclosure, the following will combine the accompanying drawings to Figures 1 to 14 The technical solutions in the embodiments of the present disclosure are clearly and completely described.

[0093] In some embodiments, the transmission assembly 220 is connected to the wheel shell body 211 in the form of abutment or relative sliding. Figures 1 to 6 As shown, during the movement of the transmission assembly 220 from the first position to the second position, the transmission assembly 220 applies a force to the wheel shell body 211 through abutment, or the transmission assembly 220 applies a force to the wheel shell body 211 through relative sliding.

[0094] The transmission assembly 220 is connected to the wheel shell body 211 in the form of abutment or relative sliding, without the need for a complex connection structure, which ensures good contact and cooperation between the transmission assembly 220 and the wheel shell body 211, reduces the additional connecting piece 260, makes the lifting mechanism 200 compact in structure, saves the internal space of the cleaning robot 1000, and also reduces the risk of failure caused by a complex structure. At the same time, since the connection structure between the transmission assembly 220 and the wheel shell body 211 is simple, when the transmission assembly 220 is worn or fails, maintenance personnel can easily check and maintain it.

[0095] In addition, the transmission assembly 220 is connected to the wheel housing 211 by abutting or relative sliding, avoiding energy loss of intermediate links, and enabling efficient transmission of power of the driving assembly 230 to the wheel housing 211. For example, when the entire cleaning robot 1000 needs to be quickly lifted to cross the threshold, the transmission assembly 220 can quickly transmit the force to the plurality of wheel housings 211, so that the cleaning robot 1000 can timely lift to cross the obstacle, and the response speed and lifting efficiency in response to the obstacle are improved.

[0096] For example, the transmission assembly 220 abuts against the wheel housing 211, and the abutting position of the transmission assembly 220 and the wheel housing 211 can be fixed, that is, the force application point is fixed, or the abutting position of the transmission assembly 220 and the wheel housing 211 can be variable, that is, the force application point is variable. It should be noted that the fixed described herein is defined relative to the variable, and the fixed is not completely fixed in the strict sense, but relative to the variable, slight changes in the movement process can be regarded as fixed, and the variable refers to obvious changes in the position, for example, sliding or moving from point A to point B. The transmission assembly 220 slides relative to the wheel housing 211, and the transmission assembly 220 can slide along a surface of the wheel housing 211 or a surface of the transmission assembly 220 can slide along a part of the wheel housing 211. Of course, in other embodiments, the transmission assembly 220 can abut against or slide relative to the wheel housing 211 in other ways, which are not particularly limited herein.

[0097] In some embodiments, in combination with Figures 1 to 6 As shown, the transmission assembly 220 includes a force applying member 221 (such as a spring) that is driven by the driving assembly 230 to move from a first position to a second position, so as to abut against or slide relative to the wheel housing 211. Figure 6 As shown, the transmission assembly 220 includes a force applying member 221 (such as a spring) that is driven by the driving assembly 230 to move from a first position to a second position, so as to abut against or slide relative to the wheel housing 211.

[0098] The force applying member 221 is driven by the driving assembly 230 to move from the first position to the second position, so as to accurately control the timing and force of applying force to the wheel housing 211. The abutting or relative sliding of the force applying member 221 and the wheel housing 211 enables more stable and reliable force transmission, ensures the stability of the cleaning robot 1000 during lifting, prevents the cleaning robot 1000 from tilting or falling due to unstable lifting, and ensures the smooth progress of cleaning work.

[0099] For example, when encountering thresholds of different heights, the movement distance and speed of the force applying member 221 can be adjusted according to the height of the threshold, so as to achieve a proper lifting height. If the threshold is low, the force applying member 221 moves a small distance, so that the front side of the robot is slightly lifted to cross the threshold; if the threshold is high, the stroke and force of the force applying member 221 are increased, so as to ensure that the cleaning robot 1000 is lifted stably as a whole.

[0100] Specifically, the driving assembly 230 can directly drive the movement of the force applying member 221, for example, the output end of the driving assembly 230 is directly connected to the force applying member 221 to drive the movement of the force applying member 221; the driving assembly 230 can also drive through other components to drive the movement of the force applying member 221 through the other components. Directly driving the movement of the force applying member 221 by the driving assembly 230 can effectively utilize the transmission power of the driving assembly 230, has higher transmission efficiency, and can reduce power loss as much as possible.

[0101] Specifically, the force applying member 221 can be selected from a slider, a push rod, a connecting rod, etc., and in the embodiments of the present disclosure, the structure of the force applying member 221 is not specifically limited.

[0102] Specifically, the force applying member 221 can be selected from a slider, a push rod, a connecting rod, etc., and in the embodiments of the present disclosure, the structure of the force applying member 221 is not specifically limited.

[0103] Specifically, the movement direction of the force applying member 221 is arranged at an angle with the plane where the body 100 is located, for example, the movement direction of the force applying member 221 can be arranged vertically with the plane where the body 100 is located to improve the lifting efficiency of the cleaning robot 1000.

[0104] In some embodiments, in combination with Figures 1 to 6 As shown, the transmission assembly 220 further includes a transmission member 224, the transmission member 224 is connected with the force applying member 221, and the transmission member 224 moves under the drive of the driving assembly 230 and drives the movement of the force applying member 221.

[0105] The power output of the driving assembly 230 is output to the force applying member 221 through the transmission member 224, which can meet the needs of different installation positions of the driving assembly 230 on the one hand, and the adaptability of the overall structure is stronger; on the other hand, the power can be output to multiple different force applying members 221 through the transmission member to realize one-to-many power output, saving the number of components of the driving assembly 230 and the installation space thereof.

[0106] Specifically, the driving assembly 230 can directly drive the movement of the transmission member 224, for example, the output end of the driving assembly 230 is connected to the transmission member 224, and the driving assembly 230 can also drive through other components to drive the movement of the transmission member 224. The driving assembly 230 drives the movement of the transmission member 224, and then drives the movement of the force applying member 221 through the movement of the transmission member 224.

[0107] Specifically, the transmission member 224 can be a gear transmission member, a connecting rod transmission member, or a gas in a gas cylinder or a liquid in a hydraulic cylinder, and the type of the transmission member 224 is not specifically limited in the embodiments of the present disclosure.

[0108] For example, the driving assembly 230 is a gas pump, and the transmission member 224 is gas. When the gas pump works, external air is sucked in and compressed, and the compressed gas is delivered to the cylinder connected to the force applying member 221 through a pipeline. The force applying member 221 can be a piston of the cylinder, which generates linear motion under the action of high-pressure gas. When it is necessary to lift the cleaning robot 1000, the gas pump injects high-pressure gas into the cylinder, and the gas pushes the piston, which in turn pushes the wheel housing 211 connected thereto. For example, if the front side of the cleaning robot 1000 encounters a threshold and needs to be lifted, the gas pump supplies gas to the cylinder responsible for lifting the wheel body 212 on the front side, and the gas pushes the piston, which drives the wheel housing 211 on the front side to rise, thereby realizing the front side lifting over the threshold.

[0109] In some embodiments, as shown in Figure 2 、 Figure 3 、 Figure 5 and Figure 6 , the driving assembly 230 includes a driving member 231 and a transmission member 232, the transmission member 232 is connected with the driving member 231, and the driving member 231 drives the transmission member to move in the transmission member 232.

[0110] The transmission member 232 provides a stable track and constraint for the movement of the transmission member, so that the transmission member 224 can move accurately along the preset path under the drive of the driving member 231. Connecting the driving member 231 and the transmission member 224 through the transmission member 232 makes the structure of the entire driving assembly 230 more compact and reasonable. The cooperation between the components is close, which reduces unnecessary space occupation and is conducive to the optimized layout of the internal space of the cleaning robot 1000. At the same time, the stability and reliability of the whole are enhanced, the service life of the driving assembly 230 is prolonged, the probability of failure is reduced, and the long-term stable operation of the cleaning robot 1000 is ensured.

[0111] Specifically, the transmission member 232 can be a guide rail, a pipeline, a chain, etc., and the type of the transmission member 232 is not specifically limited in the embodiments of the present disclosure.

[0112] For example, the transmission member 232 is a guide rail, and the transmission member 224 slides in the guide rail, which can effectively reduce the deviation and shaking during movement, and ensure that the force applying member 221 can accurately apply force to the wheel housing 211, thereby realizing stable and accurate lifting action.

[0113] For example, when the drive unit 231 is an air pump or a hydraulic pump, the pipeline serves as a transmission unit 232 for conveying gas or liquid. Taking an air pump as an example, the compressed gas generated by the air pump is delivered to the cylinder through the pipeline, driving the force-applying component 221 to move. The pipeline can be flexibly arranged according to the internal structure of the cleaning robot 1000, without strict space limitations, and can easily transmit the power of the drive unit 231 to the force-applying components 221 in different locations. For example, to optimize the internal layout of the cleaning robot 1000, the air pump can be installed at a position far away from the force-applying components 221, and compressed gas can be delivered to each cylinder through the pipeline to drive multiple force-applying components 221, meeting the lifting needs of different parts of the robot. Moreover, the way the pipeline conveys fluid can also play a certain buffering role, reducing the impact caused by power transmission.

[0114] In some embodiments, such as Figures 1 to 6 As shown, at least two walking components 210 include at least one driven walking component 213 and at least one non-driven walking component 214, and the at least one driven walking component 213 and at least one non-driven walking component 214 are disposed on different sides of the body 100. For example, when there is only one driven walking component 213 and one non-driven walking component 214, the driven walking component 213 and the non-driven walking component 214 are disposed on different sides of the body 100. For instance, the driven walking component 213 is disposed in the middle of the body 100 (e.g., a tracked driven walking component is disposed at the bottom center of the body 100), and the non-driven walking component 214 is disposed on the rear side of the body 100 (e.g., a caster wheel is disposed on the bottom rear side of the body 100). When one of the driven walking component 213 and the non-driven walking component 214 is one, and the other is two or more, such as two driven walking components 213 and one non-driven walking component 214, then at least one of the two driven walking components 213... One of the non-driving components 214 is located on a different side of the body 100. For example, one of the two driving components 213 is located on the left side of the body 100, and the other can be located on the left side or not on the left side of the body 100. The non-driving component 214 is located on the front side of the body 100. When there are two or more driving components 213 and non-driving components 214, at least one driving component 213 and at least one non-driving component 214 are located on different sides of the body 100. For example, one of the two or more driving components 213 is located on the right side of the body 100, and one of the two or more non-driving components 214 is located on the front side of the body 100.

[0115] The driving walking assembly 213 provides power for the forward movement, backward movement and turning of the cleaning robot 1000, and the non-driving walking assembly 214 mainly serves as support and auxiliary turning. The driving walking assembly 213 and the non-driving walking assembly 214 are distributed on different sides of the body 100, and the power can be reasonably allocated according to actual needs. When cleaning on a flat ground, the driving walking assembly 213 provides the main power, and the non-driving walking assembly 214 reduces the resistance, so that the cleaning robot 1000 moves smoothly and the energy consumption is reduced. When encountering complex terrain, such as crossing a threshold or a rug, the lifting mechanism 200 is started, and the driving walking assembly 213 can adjust the power output according to the resistance during the lifting process to ensure that the cleaning robot 1000 passes smoothly, avoid interrupting cleaning due to insufficient power or excessive consumption, improve energy utilization efficiency, and prolong the endurance time of the cleaning robot 1000.

[0116] The driving walking assembly 213 and the non-driving walking assembly 214 on different sides work together to enhance the passing performance and stability of the cleaning robot 1000. When the cleaning robot 1000 encounters an obstacle and needs to be lifted, the driving walking assembly 213 can provide additional power to assist the lifting action, and the non-driving walking assembly 214 on the other side serves as a balancing support to prevent the cleaning robot 1000 from tipping over during the lifting process.

[0117] Specifically, the driving walking assembly 213 can be provided with two, and the two driving walking assemblies 213 are located on opposite sides of the body 100, such as the left side and the right side. The non-driving walking assembly 214 can be provided with one, and the non-driving walking assembly 214 and the driving walking assembly 213 are located on different sides of the body 100, such as the front side, wherein the non-driving walking assembly 214 can be a universal wheel or a driven wheel, etc. In the embodiments of the present disclosure, the number or type of the driving walking assembly 213 and the non-driving walking assembly 214 is not specifically limited.

[0118] In some embodiments, in combination with Figure 3 , Figure 6 and Figure 7 , the transmission assembly 220 includes a first transmission assembly 222, the first transmission assembly 222 is connected with the wheel housing 211 of the non-driving walking assembly 214, and in the process of moving from the first position to the second position, the first transmission assembly 222 abuts against the wheel housing 211 of the non-driving walking assembly 214 and applies a force to the wheel housing 211 of the non-driving walking assembly 214.

[0119] Since the first transmission assembly 222 is directly connected with the wheel housing 211 of the non-driving walking assembly 214, the first transmission assembly 222 directly abuts against the wheel housing 211 of the non-driving walking assembly 214 to transmit the force, the structure is simple, the direct connection reduces the intermediate transmission components, and the maintenance and installation of the lifting mechanism 200 are facilitated.

[0120] The first transmission assembly 222 is directly connected with the wheel housing 211 of the non-driving walking assembly 214, and during movement of the first transmission assembly 222 from the first position to the second position, an action force is applied by abutting against the wheel housing 211, so that precise control of the lifting action of the non-driving walking assembly 214 can be achieved. Since the non-driving walking assembly 214 is usually located in front of or behind the cleaning robot 1000, it needs to be quickly and accurately lifted when encountering an obstacle. For example, when encountering a power line, the first transmission assembly 222 can accurately push the wheel housing 211 to lift the front end of the body 100 to an appropriate height, so as to avoid touching the power line and also not to excessively lift to affect the balance of the robot, so as to ensure that the cleaning robot 1000 can flexibly cope with various obstacles in a complex cleaning environment and reduce the risk of collision and being trapped.

[0121] For example, as shown in Figure 7 , the force applying member 221 on the first transmission assembly 222 is directly connected with the wheel housing 211 of the non-driving walking assembly 214. For example, one end of the force applying member 221 can be embedded on the wheel housing 211 of the non-driving walking assembly 214, so that the force applying member 221 is directly connected with the wheel housing 211 of the non-driving walking assembly 214. The force applying member 221 can also be connected with the wheel housing 211 of the non-driving walking assembly 214 through a bolt or the like, and in the embodiments of the present disclosure, the connection manner of the force applying member 221 and the wheel housing 211 is not specifically limited.

[0122] In some embodiments, as shown in Figure 3 , Figure 6 , Figure 8 and Figure 9 , the wheel housing 211 of the driving walking assembly 213 is rotatably arranged on the body 100 (as shown in Figure 5 ) through a rotating shaft 240. The transmission assembly 220 includes a second transmission assembly 223, one of the second transmission assembly 223 and the wheel housing 211 of the driving walking assembly 213 is provided with a guide wheel 250, and the other is provided with a connecting member 260, and the connecting member 260 abuts against the guide wheel 250. During movement of the second transmission assembly 223 from the first position to the second position, the guide wheel 250 slides relative to the connecting member 260, and an action force is applied to the wheel housing 211 of the driving walking assembly 213.

[0123] When the cleaning robot 1000 encounters an obstacle such as a carpet, an electric wire, a threshold, or is stuck by the obstacle, it is necessary to lift the side close to the driving walking assembly 213 or the whole to help the robot pass through the obstacle or get out of trouble. In the process of moving the second transmission assembly 223 from the first position to the second position, the second transmission assembly 223 exerts a force on the guide wheel 250 or the connecting piece 260, so that the guide wheel 250 slides relative to the connecting piece 260, and then exerts a force on the wheel housing 211 of the driving walking assembly 213. At this time, the wheel housing 211 rotates around the body 100 through the rotating shaft 240, realizes the lifting of the side of the body 100 while the wheel body 212 is supported on the target surface 2000, helps the cleaning robot 1000 to pass through the obstacle smoothly, and avoids being stuck.

[0124] In addition, the second transmission assembly 223 is connected with the driving walking assembly 213 through the guide wheel 250 and the connecting piece 260, so that the installation position of the second transmission assembly 223 in the body 100 can be arranged flexibly. The installation position of the second transmission assembly 223 and the driving walking assembly 213 is avoided from interfering, the space occupation in the cleaning robot 1000 is reduced, and the overall structure is more compact. More space is provided for the layout of other key components (such as a battery, a sensor, etc.), and the internal structure of the cleaning robot 1000 is further optimized.

[0125] Specifically, the connecting piece 260 can be selected from a pressing plate, a pressing block, or a guide rail matched with the guide wheel 250, and the structure of the connecting piece 260 is not specifically limited in the embodiment of the present disclosure.

[0126] Specifically, if the guide wheel 250 is installed on the wheel housing 211 of the driving walking assembly 213, the connecting piece 260 is installed on the second transmission assembly 223; if the guide wheel 250 is installed on the second transmission assembly 223, the connecting piece 260 is installed on the wheel housing 211 of the driving walking assembly 213.

[0127] Specifically, as shown in Figure 8 and Figure 9 , the wheel housing 211 of the driving walking assembly 213 is provided with a mounting bracket 290, the guide wheel 250 is rotatably arranged on the wheel housing 211 through the mounting bracket 290, and the connecting piece 260 is installed on the force applying piece 221 of the second transmission assembly 223. In the process of moving the second transmission assembly 223 from the first position to the second position, the force applying piece 221 of the second transmission assembly 223 exerts a downward force on the guide wheel 250 through the connecting piece 260, so that the guide wheel 250 slides on the connecting piece 260, and then exerts a force on the wheel housing 211 of the driving walking assembly 213. At this time, the wheel housing 211 rotates around the body 100 through the rotating shaft 240, realizes the lifting of the side of the body 100 while the wheel body 212 is supported on the target surface 2000.

[0128] In one embodiment, as shown in Figures 8 to 10 The guide portion 261 is provided on the connecting piece 260 and is matched with the guide wheel 250. At least part of the movement path of the guide wheel 250 is located on the guide portion 261 during the relative sliding between the guide wheel 250 and the connecting piece 260.

[0129] The guide portion 261 provides a clear movement trajectory for the guide wheel 250, which can ensure that the guide wheel 250 moves along the preset path during the relative sliding with the connecting piece 260. Meanwhile, the movement of the guide wheel 250 on the guide portion 261 can effectively limit the lateral displacement and shaking of the guide wheel 250, reduce the shaking or imbalance of the cleaning robot 1000 caused by the deviation of the guide wheel 250, and ensure the stable operation of the cleaning robot 1000 during the overall lifting or lifting on one side close to the driving walking assembly 213.

[0130] Specifically, the guide portion 261 can be a guide groove, a convex guide track, an embedded guide track, etc. In the embodiments of the present disclosure, the type of the guide portion 261 is not specifically limited.

[0131] For example, the guide portion 261 is taken as a guide groove. The linear guide groove machined on the connecting piece 260 can have a rectangular, semicircular or V-shaped cross-sectional shape. When the guide wheel 250 rolls or slides in the linear guide groove, the movement of the guide wheel 250 along the linear direction can be ensured.

[0132] It should be noted that at least part of the movement path of the guide wheel 250 is located on the guide portion 261, which means that when the guide wheel 250 works with the guide portion 261, part or all of the movement trajectory of the guide wheel 250 is along the path defined by the guide portion 261. The movement path of the guide wheel 250 can only have part of it located on the guide portion 261, and the remaining part is not limited by the guide portion 261. In this way, the volume occupied by the guide portion 261 on the connecting piece 260 can be reduced, and the guide portion 261 can be conveniently arranged on the connecting piece 260.

[0133] In some embodiments, as shown in Figure 9 and Figure 10 The guide portion 261 includes two guide strips 2611, and the two guide strips 2611 are arranged in a spaced manner so that a guide groove 2612 is formed between the two guide strips 2611, and the guide groove 2612 is matched with the guide wheel 250.

[0134] The guide groove 2612 formed by the two guide strips 2611 can keep the guide wheel 250 balanced during movement. The guide groove 2612 provides a clear movement trajectory for the guide wheel 250, which moves in the guide groove 2612 and is subjected to uniform force from the two guide strips 2611, thereby avoiding tilting or shaking of the guide wheel 250 during lifting of the cleaning robot 1000, ensuring that the driving walking assembly 213 can be smoothly lifted, and preventing damage to the assembly or affecting the normal operation of the equipment due to unbalanced lifting. In addition, due to the guiding effect of the guide groove 2612 on the guide wheel 250, the guide wheel 250 can more efficiently transmit power to the driving walking assembly 213, making the lifting process easier and faster, saving the time and energy consumption required for lifting.

[0135] Specifically, the guide strip 2611 and the connecting piece 260 can be integrally formed, or the guide strip 2611 can be installed on the connecting piece 260 by bonding, welding or the like. In the embodiments of the present disclosure, the connection manner of the guide strip 2611 and the connecting piece 260 is not specifically limited.

[0136] In some embodiments, as shown in Figure 3 and Figure 6 The transmission assembly 220 further includes a cylinder body 226, and the force applying member 221 is movably connected to the cylinder body 226. The force applying member 221 is connected to the transmission member 232 through the cylinder body 226, the driving member 231 drives the transmission member 224 to move in and out of the cylinder body 226 through the transmission member 232, so as to drive the force applying member 221 to move between the first position and the second position.

[0137] The force applying member 221 is connected to the transmission member 232 through the cylinder body 226, and the driving member 231 drives the transmission member 224 to move in and out of the cylinder body 226 through the transmission member 232 to control the movement of the force applying member 221, which can realize accurate control of the position of the force applying member 221. By controlling the driving member 231, the force applying member 221 can be accurately positioned at any position between the first position and the second position, meeting the requirements of position accuracy of the force applying member 221 in different working scenarios.

[0138] When the cylinder 226 and the piston rod are analyzed as the force applying member 221 and the pipeline as the transmission member 232, and the liquid or gas as the transmission member 224 in the hydraulic or pneumatic principle, the hydraulic oil or compressed air as the transmission member 224, the force generated by the driving member 231 can be uniformly and efficiently transmitted to the piston rod in the closed system composed of the cylinder 226 and the pipeline, so that the force received by the piston rod is stable and accurate. At the same time, the hydraulic or pneumatic cylinder 226, the pipeline and the piston rod and other components can be flexibly designed according to the spatial layout of the equipment and the working requirements. Compared with some complex mechanical transmission structure, the structure of the hydraulic or pneumatic transmission system is more simple and occupies less space. The pipeline can be bent and arranged as needed, which can better adapt to the complex space environment inside the equipment, so that the overall structure of the equipment is more compact and beautiful.

[0139] Specifically, the shape of the cylinder 226 can be set as a cuboid, a cylinder or any other existing shape, which can be selectively set according to the internal structural space of the cleaning robot 1000. In the embodiment of the present disclosure, the shape and structure of the cylinder 226 are not specifically limited.

[0140] In some embodiments, as shown in Figure 3 and Figure 6 The transmission assembly 220 includes at least two cylinders 226, and the at least two cylinders 226 are connected one by one with the at least two walking assemblies 210. The transmission member 232 includes a transmission main pipe 2321 and a transmission branch pipe 2322, and the transmission branch pipe 2322 is provided with at least two, and the at least two transmission branch pipes 2322 are communicated one by one with the at least two cylinders 226.

[0141] The at least two cylinders 226 are connected one by one with the at least two walking assemblies 210, and through the design of the transmission main pipe 2321 and the transmission branch pipe 2322, each cylinder 226 can independently receive power, so as to realize the independent control of each walking assembly 210, improve the efficiency of power transmission, and ensure that each walking assembly 210 can obtain sufficient power.

[0142] The design of the transmission main pipe 2321 and the transmission branch pipe 2322 can uniformly distribute the power of the driving member 231 to each cylinder 226, so as to ensure that each walking assembly 210 can obtain sufficient power when needed, so as to realize the smooth lifting action. By controlling the flow of liquid or gas in the transmission branch pipe 2322, the power can be flexibly distributed according to different lifting requirements. For example, when one side needs to be lifted, the power can be mainly transmitted to the cylinder 226 on one side; when the whole needs to be lifted, the power can be uniformly distributed to the plurality of cylinders 226.

[0143] In addition, by arranging the transmission main pipe 2321 and the transmission branch pipes 2322, only one driving assembly 230 is arranged, and the number of driving assemblies 230 corresponding to the number of cylinders 226 is not required, so that the accurate movement of each cylinder 226 is achieved, and the manufacturing cost is reduced.

[0144] In some embodiments, as shown in Figure 3 and Figure 6 The lifting mechanism 200 further includes at least one control component 270, wherein the output port of the control component 270 is in communication with the at least two transmission branch pipes 2322, the input port of the control component 270 is in communication with one end of the transmission main pipe 2321, and the other end of the transmission main pipe 2321 is in communication with the driving member 231.

[0145] The control component 270 serves as a central node of power distribution, can centrally manage the power output from the driving member 231, and distribute the power to each cylinder 226 through the transmission branch pipe 2322. The logic of power distribution is simplified, and the controllability of the system is improved. Through the control component 270, the flow of liquid or gas in each transmission branch pipe 2322 can be flexibly adjusted according to different lifting requirements (such as one-side lifting or overall lifting), so as to realize the accurate distribution of power. For example, when one-side lifting is required, the control component 270 can mainly transmit power to the transmission branch pipe 2322 on one side; when overall lifting is required, the control component 270 can uniformly distribute power to the plurality of transmission branch pipes 2322.

[0146] Specifically, the control component 270 can be an electromagnetic valve, a proportional valve, an electric valve, a hydraulic valve, or a flow control valve, etc. In the embodiments of the present disclosure, the type of the control component 270 is not specifically limited.

[0147] In some embodiments, as shown in Figure 11 The control component 270 includes a two-position three-way electromagnetic valve 271, and the at least two cylinders 226 are in communication with the output port of the two-position three-way electromagnetic valve 271.

[0148] The two-position three-way electromagnetic valve 271 has two positions that can easily realize the on-off control of the gas path or the liquid path. In the lifting mechanism 200, the liquid (gas) inlet and outlet of the cylinder 226 can be conveniently controlled, and the extension and retraction of the piston rod of the cylinder 226 can be flexibly controlled, so as to realize the overall lifting and lowering actions and meet different working requirements.

[0149] For example, as shown in Figure 11 The plurality of transmission assemblies 220 are in communication with the output port of the two-position three-way electromagnetic valve 271 through the transmission branch pipe 2322. When the two-position three-way electromagnetic valve 271 is in the left position (based on the direction of the arrow in the figure), the liquid (gas) in the transmission branch pipe 2322 on the left side of the two-position three-way electromagnetic valve 271 is in communication with the transmission main pipe 2321, and the liquid (gas) in the transmission branch pipe 2322 on the right side of the two-position three-way electromagnetic valve 271 is not in communication with the transmission main pipe 2321. Figure 11When the cylinder 226 of multiple transmission components 220 is in the ventilated state (on the left side), the cleaning robot 1000 is raised as a whole. When the two-position three-way solenoid valve 271 is in the right position (based on the left side), the cylinder 226 of multiple transmission components 220 is in the ventilated state, and the cleaning robot 1000 is raised as a whole. Figure 11 When the cylinder 226 of multiple transmission components 220 is in a deflated state (on the right side), the cleaning robot 1000 returns to its initial state.

[0150] In some embodiments, such as Figure 12 As shown, the control unit 270 includes two two-position three-way solenoid valves 271, and at least two cylinders 226 are respectively connected to the output ports of the two two-position three-way solenoid valves 271.

[0151] By setting two 2-position 3-way solenoid valves 271, each controlling the air supply and venting states of a portion of the cylinders 226, the cleaning robot 1000 body 100 can be lifted on one side or as a whole. When it is necessary to control the lifting of one side of the body 100, one 2-position 3-way solenoid valve 271 is opened while the other 2-position 3-way solenoid valve 271 is closed. The opened 2-position 3-way solenoid valve 271 controls the air supply of a portion of the cylinders 226, pushing the force-applying component 221 to move, thus lifting one side of the body 100; the closed 2-position 3-way solenoid valve 271 keeps the other portion of the cylinders 226 in a venting state and does not participate in the lifting action. When it is necessary to control the lifting of the entire body 100, both 2-position 3-way solenoid valves 271 are opened simultaneously. The two 2-position 3-way solenoid valves 271 control the air supply of two portions of the cylinders 226 respectively, pushing all the force-applying components 221 to move, thus lifting the entire body 100. By controlling the on / off state of two two-position three-way solenoid valves 271, the cleaning robot 1000 can selectively lift one side or the whole body according to different obstacles and ground environments.

[0152] For example, such as Figure 12 As shown, both second transmission components 223 are connected to the output port of a two-position three-way solenoid valve 271 via transmission branch pipes 2322, and one first transmission component 222 is connected to the output port of another two-position three-way solenoid valve 271 via transmission branch pipes 2322. When it is necessary to control the lifting of one side of the body 100, one two-position three-way solenoid valve 271 is opened while the other two-position three-way solenoid valve 271 is closed. This allows individual control of the cylinders 226 of the two second transmission components 223 to be in a vented state, while the cylinder 226 of the first transmission component 222 is in a vented state, thus achieving the lifting of one side of the body 100. When it is necessary to control the overall lifting of the body 100, both two two-position three-way solenoid valves 271 are opened simultaneously. The cylinders 226 of both second transmission components 223 and the cylinder 226 of the first transmission component 222 are all in a vented state, thus achieving the overall lifting of the body 100.

[0153] In some embodiments, such asFigure 13 As shown, the control component 270 comprises a three-position four-way electromagnetic valve 272, and at least two cylinders 226 are respectively communicated with different output ports of the three-position four-way electromagnetic valve 272.

[0154] By controlling the three-position four-way electromagnetic valve 272 to switch between different working positions, various coordinated motion modes of the at least two cylinders 226 can be easily realized. For example, when the body 100 needs to be smoothly and integrally lifted, the three-position four-way electromagnetic valve 272 can be placed in a specific position to allow equal amounts of liquid or gas to enter each cylinder 226 at the same time, thereby ensuring that each cylinder 226 is lifted synchronously; if the body 100 needs to be lifted on one side, the three-position four-way electromagnetic valve 272 can be switched to different positions to guide the power to the cylinders 226 on one side, thereby completing the lifting on one side and greatly improving the flexibility and adaptability of the operation of the equipment.

[0155] For example, as shown in Figure 13 As shown, the two second transmission assemblies 223 are communicated with the output ports of the three-position four-way electromagnetic valve 272 through the transmission branch pipes 2322, and the first transmission assembly 222 is communicated with another output port of the three-position four-way electromagnetic valve 272 through the transmission branch pipe 2322. When the body 100 needs to be integrally lifted, the three-position four-way electromagnetic valve 272 is in the left position, and the cylinders 226 of the two second transmission assemblies 223 and the first transmission assembly 222 are in the air-bleeding state, thereby realizing the integral lifting of the body 100. When the body 100 needs to be lifted on one side, the three-position four-way electromagnetic valve 272 is in the right position, at which time the cylinders 226 of the two second transmission assemblies 223 are in the air-bleeding state, and the cylinder 226 of the first transmission assembly 222 is in the air-bleeding state, thereby realizing the lifting of the body 100 on one side.

[0156] In some embodiments, as shown in Figure 3 and Figure 6 As shown, the lifting mechanism 200 further comprises a one-way valve 280, which is arranged on the transmission main pipe 2321 and is used to control the fluid in the transmission main pipe 2321 to flow from the driving member 231 to the control component 270.

[0157] The driving member 231 provides power for the lifting mechanism 200 and drives the fluid to flow. If pressure fluctuation or the driving member 231 is unexpectedly stopped, the one-way valve 280 can prevent the fluid from flowing in the opposite direction, thereby achieving the pressure maintaining effect. For example, in the lifting mechanism 200 driven by gas pressure, when the gas pump suddenly stops supplying gas, the one-way valve 280 can prevent the gas in the transmission main pipe 2321 from flowing back to the gas pump, and the cylinder 226 will not be retracted due to the air leakage. When the control component 270 is reversed, the cylinder 226 will be retracted, and the cleaning robot 1000 will return to the initial state.

[0158] Based on the above-described cleaning robot 1000, asFigure 14 As shown, the embodiments of the present disclosure also provide a cleaning system 10000, which comprises the base station 3000 and the cleaning robot 1000 described above, wherein the cleaning robot 1000 is maintained in the base station 3000, and the maintenance types include but are not limited to charging, dust collection, cleaning element washing, clean water replenishment, dirty water recovery, etc. It can be understood that the cleaning robot 1000 can complete the following in the base station 3000: 1. the base station 3000 charges the cleaning robot 1000; 2. the base station 3000 recycles the garbage in the cleaning robot 1000 into the dust container of the base station 3000; 3. the cleaning element (e.g. mop, roller, brush, etc.) of the cleaning robot 1000 is washed in the base station 3000; 4. the base station 3000 replenishes clean water to the clean water tank of the cleaning robot 1000; 5. the base station 3000 recycles the dirt in the dirty water tank of the cleaning robot 1000 into the dirty container of the base station 3000. The above maintenance types are only exemplary descriptions and are not a limitation of the present disclosure. It should be noted that the cleaning robot 1000 includes but is not limited to cleaning equipment such as a sweeper, a mop, a sweeper-mop integrated machine, a washer, a dust collector, etc.

[0159] In summary, compared with the prior art, the cleaning system 10000 has at least the following beneficial effects:

[0160] The cleaning system 10000 adopts the cleaning robot 1000 described above, which greatly improves the obstacle crossing function, has stronger obstacle crossing ability and higher obstacle crossing height, can cross higher obstacles such as steps and thresholds, and can meet higher obstacle crossing requirements. When the cleaning robot 1000 is stuck by obstacles such as carpets and wires, it can be lifted on one side or as a whole to help the cleaning robot 1000 get out of trouble, avoid the cleaning robot 1000 from being stuck and unable to continue working, and improve the autonomy and reliability of the robot. Compared with the existing cleaning robot 1000, the overall appearance is not changed, the existing structure is not greatly modified, the newly added structure is convenient to disassemble and assemble, and therefore the base station 3000 does not need to be adjusted in appearance, and the overall modification range of the cleaning system 10000 is reduced.

[0161] In the description of the present specification, the description referring to the terms "certain embodiments", "in an example", "exemplarily", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In the present specification, the exemplary 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 one or more embodiments or examples in a suitable manner. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0162] Any procedural or methodological descriptions in flow charts or otherwise described herein can be understood to represent modules, segments or portions of code that include one or more executable instructions for implementing the specified logical function or process, and the scope of preferred embodiments of the present application includes additional implementations in which the functions are performed in an order different from that shown or discussed, including substantially concurrently or in reverse order, as will be understood by those having ordinary skill in the art to which embodiments of the present application pertain.

[0163] Although the embodiments of the present application have been shown and described above, it is to be understood that the above-described embodiments are exemplary only, and are not to be construed as limiting the present application, and that variations, modifications, substitutions and changes can be made to the above-described embodiments by one of ordinary skill in the art without departing from the scope of the present application.

Claims

1. A cleaning robot, characterized in that, The cleaning robot includes: ontology; and A lifting mechanism, disposed on the body and used to lift at least one side of the body, the lifting mechanism comprising: At least two walking components, each of the walking components including: a wheel housing and a wheel body rotatably disposed on the wheel housing, the wheel body being supported on a target surface and used to move the cleaning robot, the wheel housing being connected to the body; A transmission assembly, wherein the transmission assembly is respectively connected to at least two of the wheel housings; and A drive assembly, which is connected to the transmission assembly and is used to drive the transmission assembly to move; At least two of the walking components are disposed on different sides of the body. During the process of the drive component driving the transmission component to move from the first position to the second position, the transmission component applies a force toward the target surface to at least one of the at least two wheel housings, so that when at least one wheel housing is supported on the target surface, it causes the first side of the body to be lifted relative to the target surface. The first side of the body is the side of the body on which the wheel housing to which the force is applied is located.

2. The cleaning robot according to claim 1, characterized in that, During the movement of the transmission assembly from the first position to the second position, the transmission assembly applies the force to the wheel housing by abutting against the wheel housing or sliding relative to the wheel housing.

3. The cleaning robot according to claim 2, characterized in that, The transmission assembly includes a force-applying component, which moves from the first position to the second position under the drive of the drive assembly to abut against the wheel housing or slide relative to the wheel housing.

4. The cleaning robot according to claim 3, characterized in that, The transmission assembly further includes a transmission component connected to the force-applying component. The transmission component moves under the drive of the drive assembly and drives the force-applying component to move.

5. The cleaning robot according to claim 4, characterized in that, The drive assembly includes a drive member and a transmission member connected to the drive member, wherein the drive member drives the transmission member to move within the transmission member.

6. The cleaning robot according to claim 1, characterized in that, The at least two walking components include at least one driven walking component and at least one non-driven walking component, with the at least one driven walking component and the at least one non-driven walking component disposed on different sides of the body.

7. The cleaning robot according to claim 6, characterized in that, The transmission assembly includes a first transmission assembly; The first transmission component is connected to the wheel housing of the non-drive walking component. During the process of the first transmission component moving from the first position to the second position, the first transmission component abuts against the wheel housing of the non-drive walking component to apply the force to the wheel housing of the non-drive walking component.

8. The cleaning robot according to claim 6, characterized in that, The wheel housing of the driving walking assembly is rotatably mounted on the body via a rotating shaft; The transmission assembly includes a second transmission assembly. One of the wheel housing of the driving walking assembly and the second transmission assembly is provided with a guide wheel, and the other is provided with a connecting member that abuts against the guide wheel. During the movement of the second transmission component from the first position to the second position, the guide wheel slides relative to the connecting member to apply the force to the wheel housing of the driving and walking component.

9. The cleaning robot according to claim 8, characterized in that, The connector is provided with a guide portion that is adapted to the guide wheel; During the relative sliding process between the guide wheel and the connecting member, at least a portion of the movement path of the guide wheel lies on the guide portion.

10. The cleaning robot according to claim 9, characterized in that, The guide portion includes two guide bars spaced apart, with a guide groove formed between the two guide bars to match the guide wheel.

11. The cleaning robot according to claim 5, characterized in that, The transmission assembly also includes a cylinder body, and the force-applying component is movably connected to the cylinder body; The force-applying component is connected to the transmission component through the cylinder body. The driving component drives the transmission component to move in and out of the cylinder body through the transmission component, thereby driving the force-applying component to move between the first position and the second position.

12. The cleaning robot according to claim 11, characterized in that, The transmission assembly includes at least two cylinders, and the at least two cylinders are connected to at least two walking assemblies in a one-to-one correspondence. The transmission component includes a main transmission pipe and at least two branch transmission pipes, with each of the at least two branch transmission pipes corresponding to and connected to at least two cylinders.

13. The cleaning robot according to claim 12, characterized in that, The lifting mechanism further includes at least one control component. The output port of the control component is connected to at least two of the transmission branches, the input port of the control component is connected to one end of the transmission main pipe, and the other end of the transmission main pipe is connected to the drive component.

14. The cleaning robot according to claim 13, characterized in that, The control component includes a two-position three-way solenoid valve, and at least two of the cylinders are connected to the output port of the two-position three-way solenoid valve; or... The control component includes two two-position three-way solenoid valves, and at least two of the cylinders are respectively connected to the output ports of the two two-position three-way solenoid valves; or... The control component includes a three-position four-way solenoid valve, and at least two of the cylinders are respectively connected to different output ports of the three-position four-way solenoid valve.

15. The cleaning robot according to claim 13, characterized in that, The lifting mechanism also includes a one-way valve, which is located on the transmission main pipe and is used to control the flow of fluid in the transmission main pipe from the driving component toward the control component.

16. A cleaning system, characterized in that, include: Base station; and The cleaning robot according to any one of claims 1 to 15, wherein the cleaning robot performs maintenance within the base station.

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