Chassis assembly and cleaning robot

Abstract

The embodiment of the utility model relates to the technical field of cleaning systems, in particular to a chassis assembly and a cleaning robot. The chassis assembly comprises a chassis body, a driving wheel set, an elastic piece and a ground clearance switch module. The chassis body is provided with a containing cavity, the driving wheel set can be rotationally installed in the containing cavity relative to the chassis body, the driving wheel set comprises a wheel body and a linkage structure, and the wheel body and the linkage structure can rotate around the rotating axis of the driving wheel set relative to the chassis body together. The elastic piece is connected with the chassis body and the linkage structure. The off-ground switch module is installed on the chassis body and arranged above the driving wheel set, and the off-ground switch module can be triggered by the linkage structure when the wheel body rotates to the preset position. According to the embodiment of the invention, the off-ground switch module is arranged above the driving wheel set, and the switch is triggered by the relative rotation generated by the driving of the elastic piece and the linkage structure of the elastic piece when the driving wheel set loses the ground support, so that the off-ground state of the driving wheel set is effectively detected.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of cleaning system, and particularly relates to a chassis assembly and a cleaning robot. BACKGROUND

[0002] In the autonomous navigation and cleaning process of a cleaning robot (such as a sweeping robot), the drive wheel set needs to adapt to different ground environments and has a certain obstacle crossing ability. Therefore, the drive wheel set is usually designed to be able to rotate or float within a certain range relative to the robot chassis body, and is usually realized by means of elastic members (such as springs). When the robot is picked up or moves to the edge to cause the wheel set to be suspended, the elastic member drives the wheel body to rotate to an extreme position away from the chassis, that is, a state of leaving the ground.

[0003] The existing off-ground detection scheme is usually realized by using a switch or a sensor. However, the current sensor is directly arranged on the side of the wheel body or below the wheel body, and may be affected by ground debris, or interferes with the movement mechanism and suspension parts of the drive wheel set in the narrow chassis space. CONTENT OF THE UTILITY MODEL

[0004] An object of the embodiment of the present application is to provide a chassis assembly and a cleaning robot to solve the technical problems that the off-ground detection device is easily disturbed by ground objects and interferes with other components in the related art.

[0005] The embodiment of the present application provides a chassis assembly, comprising:

[0006] A chassis body is provided with a receiving cavity;

[0007] A drive wheel set is rotatably installed in the receiving cavity relative to the chassis body, and the drive wheel set comprises a wheel body and a linkage structure, and the wheel body and the linkage structure can rotate together relative to the chassis body about the rotation axis of the drive wheel set;

[0008] An elastic member is connected to the chassis body and the linkage structure, respectively, and is used to drive the wheel body to rotate relative to the chassis body to a preset position away from the receiving cavity when the wheel body is not supported by the ground;

[0009] An off-ground switch module is installed on the chassis body and arranged above the drive wheel set, and the off-ground switch module can be triggered by the linkage structure when the wheel body rotates to the preset position.

[0010] Optionally, the off-ground switch module comprises:

[0011] A fixed cover is installed on the chassis body and located above the drive wheel set, and the fixed cover is provided with a mounting groove;

[0012] The off-ground switch is installed in the mounting groove and can be triggered by the linkage structure when the wheel body rotates to the preset position.

[0013] Optionally, the fixing cover is provided with a wiring surface, the mounting groove is provided with a clearance ramp in the signal line leading direction of the off-ground switch, one of the opposite sides of the clearance ramp is connected with the wiring surface, and the other is connected with the bottom surface of the mounting groove, and the signal line of the off-ground switch can extend to the wiring surface through the clearance ramp.

[0014] Optionally, the fixing cover comprises a wire clamp, the wire clamp is arranged on the wiring surface and located at one side of the mounting groove, the leading direction of the wire clamp is the same as the direction in which the off-ground switch points to the linkage structure, and the signal line of the off-ground switch can be led outwards on the wiring surface through the wire clamp.

[0015] Optionally, the off-ground switch is a travel switch, and the linkage structure comprises a switch triggering part, the switch triggering part abuts against and triggers the travel switch when the wheel body rotates to the preset position.

[0016] Optionally, the linkage structure further comprises a winding post, the winding post is arranged in a spaced manner with the switch triggering part, and the electric connection line of the driving wheel set and / or the signal line of the off-ground switch can be arranged on the winding post.

[0017] Optionally, a wire clamping groove is arranged on the side wall of the accommodation cavity, the winding post is closer to the wire clamping groove than the off-ground switch, and the electric connection line of the driving wheel set and / or the signal line of the off-ground switch can be led outwards from the winding post through the wire clamping groove.

[0018] Optionally, the bottom disc body comprises a reinforcing structure, the reinforcing structure extends in the width direction of the accommodation cavity and connects the side wall of the accommodation cavity, and the reinforcing structure is farther away from the linkage structure than the off-ground switch module.

[0019] Optionally, the driving wheel set comprises an abutting part, the reinforcing structure is arranged on the rotation stroke of the abutting part, and the abutting part is used for abutting against the reinforcing structure when the wheel body is supported by the ground.

[0020] In another aspect, the embodiment of the present application further provides a cleaning robot, comprising:

[0021] The chassis assembly as claimed in any one of the above;

[0022] A main board is installed in the chassis assembly and electrically connected with the driving wheel set and the off-ground switch module respectively.

[0023] The embodiment of the present application can realize the following technical effects: the embodiment of the present application sets the off-ground switch module above the driving wheel set, and triggers the switch by the relative rotation of the elastic member and the linkage structure when the driving wheel set loses the ground support, thereby realizing effective detection of the off-ground state of the driving wheel set. Compared with setting the off-ground detection device in other positions, the upper arrangement has the advantages of sufficient space and being not easily interfered by ground sundries. The direct triggering relationship between the linkage structure and the off-ground switch module ensures the sensitivity and reliability of the detection. BRIEF DESCRIPTION OF DRAWINGS

[0024] One or more embodiments are illustrated by way of example in the figures that are part of this disclosure and which are illustrative, but not restrictive, of the embodiments, wherein elements having the same reference number designates like elements throughout the various figures, and wherein the figures do not necessarily bear a proportional relationship to each other.

[0025] Figure 1 A first structural schematic view of a chassis assembly provided by an embodiment of the present application;

[0026] Figure 2 A first structural schematic view of a chassis assembly provided by an embodiment of the present application; Figure 1 An enlarged view of detail A in FIG. 1;

[0027] Figure 3 A first structural schematic view of a chassis assembly provided by an embodiment of the present application;

[0028] Figure 4 A first structural schematic view of a chassis assembly provided by an embodiment of the present application;

[0029] Figure 5 A structural schematic view of an off-ground switch module of a chassis assembly provided by an embodiment of the present application;

[0030] Figure 6 A second structural schematic view of a chassis assembly provided by an embodiment of the present application;

[0031] Figure 7 A second structural schematic view of a chassis assembly provided by an embodiment of the present application; Figure 6 An enlarged view of detail B in FIG. 5;

[0032] Figure 8 A second structural schematic view of a chassis assembly provided by an embodiment of the present application;

[0033] Figure 9 A second structural schematic view of a chassis assembly provided by an embodiment of the present application;

[0034] LIST OF ELEMENTS:

[0035] 100, chassis assembly; 10, chassis body; 11, receiving cavity; 111, wire clamping groove; 12, reinforcing structure; 20, drive wheel set; 21, wheel body; 22, linkage structure; 221, switch triggering part; 222, winding column; 23, abutting part; 30, elastic member; 40, off-ground switch module; 41, fixed cover; 411, mounting groove; 4111, accommodation inclined surface; 412, wiring surface; 413, wire clamp; 414, positioning column; 42, off-ground switch; 421, positioning hole. DETAILED DESCRIPTION

[0036] In order to facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the drawings and specific embodiments. It should be noted that when an element is described as being "connected" to another element, it can be directly on the other element or one or more intervening elements can be present therebetween. The terms "upper", "lower", "left", "right", "upper end", "lower end", "top" and "bottom" used in the specification indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", etc. are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0037] Unless otherwise defined, all technical and scientific terms used in the specification are the same as those commonly understood by those skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not intended to limit the present application.

[0038] At present, the off-ground detection scheme of the cleaning robot is usually realized by using a switch or a sensor. However, in the related art, the switch or the sensor for off-ground detection is directly arranged on the side surface of the wheel body or below the wheel body, which may be affected by ground debris, or interferes with the movement mechanism and suspension parts of the drive wheel set in the narrow chassis space.

[0039] Please refer to Figure 1 and Figure 2In order to solve the above problems, the embodiment of the present application provides a chassis assembly 100 applied to a cleaning robot. The chassis assembly 100 comprises a chassis body 10, a driving wheel set 20, an elastic member 30 and a ground clearance switch module 40. The chassis body 10 is provided with a receiving cavity 11, the driving wheel set 20 is rotatably installed in the receiving cavity 11 relative to the chassis body 10, the driving wheel set 20 comprises a wheel body 21 and a linkage structure 22, and the wheel body 21 and the linkage structure are capable of rotating together relative to the chassis body 10 about the rotation axis of the driving wheel set 20. The elastic member 30 is connected to the chassis body 10 and the linkage structure 22 respectively, and is used to drive the wheel body 21 to rotate to a preset position away from the receiving cavity 11 relative to the chassis body 10 when the wheel body 21 is not supported by the ground. The ground clearance switch module 40 is installed on the chassis body 10 and arranged above the driving wheel set 20, and the ground clearance switch module 40 can be triggered by the linkage structure 22 when the wheel body 21 rotates to the preset position.

[0040] The structural principle of the chassis assembly 100 in the embodiment of the present application is that the linkage structure 22 and the wheel body 21 are capable of rotating together relative to the chassis body 10 about the rotation axis of the driving wheel set 20. The chassis assembly 100 is further provided with the elastic member 30, for example, a spring, which is connected between the chassis body 10 and the linkage structure 22 of the driving wheel set 20. The function of the elastic member 30 is to drive the entire driving wheel set 20 including the wheel body 21 and the linkage structure 22 to rotate to a preset position relative to the chassis body 10 when the wheel body 21 loses the support of the ground, for example, when the robot is lifted or encounters a large ditch.

[0041] The preset position referred to in the embodiment of the present application is a position away from the bottom of the receiving cavity 11, which represents the ground clearance state of the driving wheel set 20.

[0042] Please refer to Figure 3 and Figure 4 When the cleaning robot is lifted, the driving wheel set 20 rotates to the above-mentioned ground clearance preset position due to the action of the elastic member 30, the linkage structure 22 of the driving wheel set 20 can move to a position that can trigger the ground clearance switch module 40, and triggers the ground clearance switch module 40. When the cleaning robot returns to the ground again, the driving wheel set 20 is supported by the ground, and the chassis body 10 resists the elastic force of the elastic member 30 by the dead weight and presses downward to the driving wheel set 20, so that the driving wheel set 20 is accommodated in the receiving cavity 11.

[0043] It can be understood that the embodiment of the present application realizes effective detection of the off-ground state of the driving wheel set 20 by arranging the off-ground switch module 40 above the driving wheel set 20 and triggering the switch by the relative rotation of the driving wheel set 20 driven by the elastic member 30 when the driving wheel set 20 loses ground support and the linkage structure 22. Compared with arranging the off-ground detection device in other positions, the upper arrangement has the advantages of sufficient space and being not easily interfered by ground debris. The direct triggering relationship between the linkage structure 22 and the off-ground switch module 40 ensures the sensitivity and reliability of detection.

[0044] Please refer to Figure 2 and Figure 5 In some embodiments, the off-ground switch module 40 includes a fixed cover 41 and an off-ground switch 42. The fixed cover 41 is mounted to the chassis body 10 and located above the driving wheel set 20, and the fixed cover 41 is provided with a mounting groove 411. The off-ground switch 42 is mounted in the mounting groove 411 and can be triggered by the linkage structure 22 when the wheel body 21 rotates to a preset position.

[0045] It can be understood that the off-ground switch module 40 of the embodiment of the present application uses the fixed cover 41 and the off-ground switch 42 mounted thereon. The fixed cover 41, as an independent component, can be pre-provided with the mounting groove 411, ensuring that the installation position of the off-ground switch 42 on the chassis body 10 is accurate and consistent, and ensuring that the linkage structure 22 can stably and reliably trigger the off-ground switch 42. Compared with directly mounting the switch on the chassis body 10 or other structures, using the fixed cover 41 with the mounting groove 411 simplifies the assembly process and improves the assembly precision and efficiency. At the same time, the fixed cover 41 can provide physical protection for the off-ground switch 42, thereby improving the durability and working reliability of the entire off-ground detection device and ensuring the long-term stability and effectiveness of the off-ground state detection function.

[0046] In some embodiments, the fixed cover 41 includes a positioning column 414 arranged in the mounting groove 411, and the off-ground switch 42 is provided with a positioning hole 421. The off-ground switch 42 is positioned by the mutual cooperation of the positioning hole 421 and the positioning column 414 when the off-ground switch 42 is mounted to the fixed cover 41.

[0047] In some embodiments, the fixed cover 41 is provided with a wiring surface 412, the mounting groove 411 is provided with a clearance inclined surface 4111 located in the signal line leading direction of the off-ground switch 42, one of the opposite sides of the clearance inclined surface 4111 is connected to the wiring surface 412, and the other is connected to the bottom surface of the mounting groove 411. The signal line of the off-ground switch 42 can extend to the wiring surface 412 through the clearance inclined surface 4111.

[0048] It can be understood that the wiring surface 412 on the fixed cover 41 is used for wiring of the signal line of the off-ground switch 42. Meanwhile, in the mounting groove 411 for mounting the off-ground switch 42, a displacement inclined surface 4111 is arranged to lead the signal line of the off-ground switch 42 to the wiring surface 412. The displacement inclined surface 4111 is an inclined transition surface, and the opposite sides thereof are smoothly connected with the wiring surface 412 and the bottom surface of the mounting groove 411 respectively. When the off-ground switch 42 is mounted in the mounting groove 411, the signal line led out of the off-ground switch 42 can naturally and unobstructedly extend to the wiring surface 412 of the fixed cover 41 along the displacement inclined surface 4111. The embodiment of the present application provides a smooth transition path for the signal line from the off-ground switch 42 to the external wiring area through the above structure.

[0049] In some embodiments, the fixed cover 41 comprises a wire card 413 arranged on the wiring surface 412 and located at one side of the mounting groove 411. The leading direction of the wire card 413 is the same as the direction in which the off-ground switch 42 points to the linkage structure 22, and the signal line of the off-ground switch 42 can be led out of the wiring surface 412 through the wire card 413.

[0050] It can be understood that the fixed cover 41 itself comprises one or more wire cards 413 arranged on the wiring surface 412. The arrangement of the wire card 413 enables it to clamp or fix the signal line of the off-ground switch 42, and the leading direction of the signal line is arranged to be the direction in which the off-ground switch 42 points to the linkage structure 22 of the drive wheel set 20. After the signal line of the off-ground switch 42 extends to the wiring surface 412 through the displacement inclined surface 4111, it can be conveniently clamped into or passed through the wire card 413 arranged on the wiring surface 412.

[0051] It is easier to understand that the addition of the wire card 413 greatly enhances the wiring and fixing ability of the signal line of the off-ground switch 42. The reliable fixation of the signal line on the wiring surface 412 by the wire card 413 can effectively prevent the loosening, displacement or even falling off of the cable caused by vibration or accidental pulling during the operation of the cleaning robot. Through the fixing effect of the wire card 413, the signal line of the off-ground switch 42 can be arranged in the direction in which the off-ground switch 42 points to the linkage structure 22. Since the off-ground switch module 40 is located above the drive wheel set 20 in the accommodation cavity 11, the space above the accommodation cavity 11 can be well utilized for wiring.

[0052] In some embodiments, the off-ground switch 42 is a contact switch, such as a travel switch, and the linkage structure 22 comprises a switch triggering part 221 which abuts and touches the travel switch when the wheel body 21 rotates to a preset position.

[0053] It can be understood that the embodiments of the present application use a travel switch as the off-ground switch 42, which has the advantages of low cost, mature technology, reliable work, accurate signal, etc., and is suitable for application scenarios of position detection. The special switch triggering part 221 is arranged on the linkage structure 22, which can ensure the accuracy and repeatability of the triggering action. This mechanical direct triggering method is generally not sensitive to environmental factors such as dust and light changes, further enhancing the robustness of the off-ground detection function and the adaptability in complex working environments, ensuring that the cleaning robot can continuously and reliably perceive its off-ground state. Exemplarily, the off-ground switch 42 is a micro switch, and the switch triggering part 221 is a protruding structure arranged outward on the drive wheel set 20. The protruding structure abuts the spring of the micro switch through the circumferential end face, so that the off-ground switch 42 is triggered.

[0054] Please refer to Figure 1 、 Figure 2 、 Figure 6 and Figure 7 In some embodiments, the linkage structure 22 further comprises a winding column 222, which is arranged in a spaced manner with the switch triggering part 221. The electrical connection line of the drive wheel set 20 and / or the signal line of the off-ground switch 42 can be wound on the winding column 222.

[0055] It can be understood that the winding column 222 and the switch triggering part 221 are arranged separately and maintain a certain distance between each other. Specifically, the electrical connection line of the drive wheel set 20 itself (such as the power supply line and signal line of the drive motor) and / or the signal line of the off-ground switch 42 can be wound or fixed on these winding columns 222, so that the wiring of each functional component on the chassis assembly 100 is more reasonable and neat.

[0056] In some embodiments, the side wall of the accommodation cavity 11 is provided with a hinge hole, and the drive wheel set 20 comprises a hinge shaft matched with the hinge hole. The drive wheel set 20 is hingedly matched with the hinge hole on the side wall of the accommodation cavity 11 through the hinge shaft, so as to be installed on the chassis body 10.

[0057] Please refer to Figure 3 and Figure 4In some embodiments, the linkage structure 22 is arranged to extend outwardly perpendicularly to the rotation axis of the drive wheel set 20, and in the circumferential direction of the rotation axis, the direction in which the linkage structure 22 points to the rotation axis forms a preset angle with the direction in which the wheel body 21 points to the rotation axis. For example, the direction in which the linkage structure 22 points to the rotation axis forms an obtuse angle with the direction in which the wheel body 21 points to the rotation axis, and when the wheel body 21 rotates to a preset position, the linkage structure 22 triggers the off-ground switch module 40, and the direction in which the linkage structure 22 points to the rotation axis is perpendicular to the horizontal plane. It can be understood that, through the above arrangement, the switch triggering part 221 of the linkage structure 22 can achieve good surface contact with the spring of the off-ground switch 42, so as to better abut against the spring of the off-ground switch 42, and ensure stable operation and quick response of the off-ground switch 42.

[0058] In some embodiments, the elastic member 30 is a tension spring, and the linkage structure 22 includes a hook or a clamping hole, and the hook at one end of the elastic member 30 can be connected to the hook or the clamping hole of the linkage structure 22, so that the elastic member 30 can rotate the drive wheel set 20 by pulling the linkage structure 22.

[0059] In other embodiments, the off-ground switch 42 can be a non-contact inductive switch, such as a receiving end of an infrared sensor or a Hall sensor, and the linkage structure 22 can be provided with a transmitting end matched with the receiving end of the infrared sensor, or can be provided with an inductive member matched with the Hall sensor. Designers can make settings according to actual experience and needs, and specific settings can refer to conventional settings in the art, which will not be described here.

[0060] In some embodiments, the side wall of the accommodation cavity 11 is provided with a wire clamping groove 111, and the winding post 222 is closer to the wire clamping groove 111 than the off-ground switch 42, so that the electric connection line of the drive wheel set 20 and / or the signal line of the off-ground switch 42 can be led out from the winding post 222 to the wire clamping groove 111.

[0061] It can be understood that the wire clamping groove 111 is arranged on the side wall of the accommodation cavity 11 of the chassis body 10. In terms of position layout, the winding post 222 is closer to the wire clamping groove 111 than the off-ground switch 42. Through the above arrangement, the electric connection line of the drive wheel set 20 and / or the signal line of the off-ground switch 42 can be led out from the winding post 222 after being wound on the winding post 222, and directly enter the wire clamping groove 111 on the side wall of the accommodation cavity 11. The cable is guided and fixed through the wire clamping groove 111, so as to leave the movement area of the drive wheel set 20 and finally be connected to the mainboard of the cleaning robot.

[0062] Please refer to Figure 3 , Figure 4 , Figure 8 and Figure 9In some embodiments, the chassis body 10 comprises a reinforcing structure 12 extending in the width direction of the receiving cavity 11 and connecting the side walls of the receiving cavity 11, the reinforcing structure 12 being further away from the linkage structure 22 than the ground clearance switch module 40.

[0063] It can be appreciated that the reinforcing structure 12 of the present embodiments significantly improves the strength and rigidity of the receiving cavity 11 region of the chassis body 10 structure. The drive wheel set 20 and its receiving cavity 11 are important parts of the robot chassis that bear loads and impacts, especially when the robot is climbing obstacles or subjected to external forces. The reinforcing structure 12, by connecting the side walls of the receiving cavity 11, effectively resists possible deformation and maintains the stability of the geometric shape of the receiving cavity 11.

[0064] It can be more easily appreciated that the reinforcing structure 12 is arranged in a region away from the linkage structure 22, ensuring that the reinforcing structure 12 itself does not interfere with the normal movement of the drive wheel set 20 and the normal detection of the ground clearance switch module 40.

[0065] In some embodiments, the reinforcing structure 12 can be a reinforcing rib and beam structure integrally formed with the chassis body 10. For example, it can be configured as a bridge-like structure across the top opening region of the receiving cavity 11, with both ends firmly connected to the opposite side walls of the receiving cavity 11. The cross-sectional shape of the structure can be, for example, an I-shaped, T-shaped or rectangular cross-section with reinforcing ribs, to obtain the maximum bending stiffness under limited space and material. In addition, the surface of the reinforcing structure 12, especially the side facing the drive wheel set 20, can be configured to be flat or have a specific curved surface to match the subsequent limit contact surface as the abutting portion 23. The reinforcing structure 12 of the present embodiments is simple to manufacture, has high structural strength, and can effectively ensure the stability of the chassis body 10 under load and impact.

[0066] In some embodiments, the drive wheel set 20 comprises an abutting portion 23, the reinforcing structure 12 is arranged on the rotation stroke of the abutting portion 23, and the abutting portion 23 is used to abut against the reinforcing structure 12 when the wheel body 21 is supported by the ground.

[0067] It can be understood that the driving wheel set 20 comprises an abutting portion 23, and the position of the reinforcing structure 12 is arranged on the rotation stroke path of the abutting portion 23. Specifically, when the wheel body 21 of the driving wheel set 20 is supported by the ground, the driving wheel set 20 rotates upward, at this time, the abutting portion 23 on the driving wheel set 20 moves to and finally abuts against the reinforcing structure 12. The embodiment of the application realizes the dual functions of structure reinforcement and movement limiting by allowing the reinforcing structure 12 to simultaneously act as a limiting stopper of the abutting portion 23 of the driving wheel set 20, improves the utilization efficiency of components and the integration degree of design. When the wheel body 21 moves upward under the support of the ground, the contact between the abutting portion 23 and the reinforcing structure 12 provides a limiting stop, preventing the driving wheel set 20 from excessively compressing the elastic member 30 or impacting other parts of the chassis main body 10, and protecting the driving wheel set 20 and the like. Exemplarily, the abutting portion 23 is part of the structure of the outer shell of the wheel body 21, and the part of the structure of the outer shell of the wheel body 21 abuts against the bottom of the reinforcing structure 12 when the driving wheel set 20 is supported by the ground.

[0068] In another aspect, the embodiment of the application also provides a cleaning robot comprising the chassis assembly 100 and a main board.

[0069] The main board is installed on or connected to the chassis assembly 100, and is electrically connected to the motor of the driving wheel set 20 and the off-ground switch module 40, respectively. The main board realizes driving control of the driving wheel set 20 and real-time monitoring of the off-ground state through the connections.

[0070] It can be understood that the embodiment of the application integrates the chassis assembly 100 of the above embodiment into the cleaning robot, so that the entire cleaning robot can accurately and effectively detect the off-ground state.

[0071] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, but not to limit them; under the idea of the application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the application as described above, which are not provided in details for the sake of simplicity; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

Claims

1. A chassis assembly characterized by, The application relates to a chassis assembly and a vehicle comprising the same. The chassis assembly comprises: a chassis body provided with a receiving cavity; a driving wheel set rotatably mounted in the receiving cavity relative to the chassis body, the driving wheel set comprising a wheel body and a linkage structure, the wheel body and the linkage structure being capable of rotating together about a rotation axis of the driving wheel set relative to the chassis body; a resilient member respectively connecting the chassis body and the linkage structure, for driving the wheel body to rotate to a preset position away from the receiving cavity relative to the chassis body when the wheel body is not supported by the ground; 2. The chassis assembly of claim 1, wherein, a ground clearance switch module mounted on the chassis body and arranged above the driving wheel set, the ground clearance switch module being capable of being triggered by the linkage structure when the wheel body rotates to the preset position. The ground clearance switch module comprises: a fixed cover mounted on the chassis body and located above the driving wheel set, the fixed cover being provided with a mounting groove; 3. The chassis assembly of claim 2, wherein, a ground clearance switch mounted in the mounting groove and capable of being triggered by the linkage structure when the wheel body rotates to the preset position.

4. The chassis assembly of claim 3, wherein, The fixed cover is provided with a wiring surface, the mounting groove is provided with a clearance inclined surface located in the signal line leading direction of the ground clearance switch, one side of the clearance inclined surface opposite to the other side is connected with the wiring surface, and the other side is connected with the bottom surface of the mounting groove, and the signal line of the ground clearance switch can extend to the wiring surface through the clearance inclined surface.

5. The chassis assembly of claim 2, wherein, The fixed cover comprises a wire clamp, the wire clamp is arranged on the wiring surface and located on one side of the mounting groove, the leading direction of the wire clamp is the same as the direction in which the ground clearance switch points to the linkage structure, and the signal line of the ground clearance switch can be led outwards on the wiring surface through the wire clamp.

6. The chassis assembly of claim 5, wherein, The ground clearance switch is a travel switch, the linkage structure comprises a switch triggering part, and the switch triggering part abuts against and triggers the travel switch when the wheel body rotates to the preset position.

7. The chassis assembly of claim 6, wherein, The linkage structure further comprises a winding column, the winding column is arranged in a spaced mode relative to the switch triggering part, and the electric connection line of the driving wheel set and / or the signal line of the ground clearance switch can be wound on the winding column.

8. The chassis assembly of claim 1, wherein, A wire clamping groove is arranged on the side wall of the receiving cavity, the winding column is closer to the wire clamping groove than the ground clearance switch, and the electric connection line of the driving wheel set and / or the signal line of the ground clearance switch can be led outwards from the winding column through the wire clamping groove.

9. The chassis assembly of claim 8, wherein, The chassis body comprises a reinforcing structure, the reinforcing structure extends in the width direction of the receiving cavity and connects the side walls of the receiving cavity, and the reinforcing structure is farther away from the linkage structure than the ground clearance switch module.

10. A cleaning robot, characterized in that, The driving wheel set comprises an abutting part, the reinforcing structure is arranged on the rotation stroke of the abutting part, and the abutting part is used for abutting against the reinforcing structure when the wheel body is supported by the ground. The application further relates to a vehicle comprising the chassis assembly. The vehicle comprises: the chassis assembly according to any one of claims 1-9; a main board mounted on the chassis assembly and electrically connected with the driving wheel set and the ground clearance switch module respectively.

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