Bearing equipment, cleaning device and cleaning system

Abstract

The utility model provides bearing equipment, a cleaning device and a cleaning system, and relates to the technical field of smart home. The bearing equipment comprises a main body part, a supporting piece and a walking wheel assembly, wherein the supporting piece is connected with the main body part; the walking wheel assembly comprises a walking wheel, a lifting part, a first driving assembly and a second driving assembly, the walking wheel is connected with the lifting part, and the first driving assembly is arranged on the main body part; the first driving assembly is in transmission connection with the lifting part and used for driving the lifting part to drive the walking wheels to ascend and descend in the first direction. The second driving assembly is connected with the lifting piece and used for driving the walking wheel to rotate in the circumferential direction of the first direction extending axis.

Description

Technical Field

[0001] This disclosure relates to the field of smart home technology, and more specifically, to a carrier device, a cleaning device, and a cleaning system. Background Technology

[0002] With the widespread adoption of smart homes, robotic vacuum cleaners have become an essential tool for household cleaning. However, traditional robotic vacuum cleaners, limited by their mobility, struggle to handle cleaning challenges in multi-story environments such as duplexes and villas. Furthermore, everyday scenarios involving moving heavy objects and overcoming obstacles place higher demands on the mobility of automated equipment. While some related technologies can achieve simple support and stair-climbing functions, they generally suffer from complex structures and poor adaptability, making it difficult to meet practical application needs.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this disclosure is to provide a carrier device, a cleaning apparatus, and a cleaning system.

[0005] According to one aspect of this disclosure, a carrier device is provided, the carrier device comprising:

[0006] Main body;

[0007] Support member, which is connected to the main body;

[0008] The walking wheel assembly includes a walking wheel, a lifting component, a first drive component, and a second drive component. The walking wheel is connected to the lifting component, and the first drive component is disposed on the main body. The first drive component is pulsatorically connected to the lifting component and is used to drive the lifting component to move the walking wheel up and down along a first direction. The second drive component is connected to the lifting component and is used to drive the walking wheel to rotate circumferentially along the axis extending in the first direction.

[0009] In one exemplary embodiment of this disclosure, the second drive component drives the walking wheel to rotate at a preset angle, which is greater than or equal to 90°.

[0010] In one exemplary embodiment of this disclosure, the main body is provided with a carrying space, the carrying space having an opening for the target device to enter and exit, and the walking wheel assembly is disposed on the side of the main body away from the opening.

[0011] In one exemplary embodiment of this disclosure, the carrying device includes a plurality of the walking wheel assemblies, which are capable of synchronous or asynchronous movement.

[0012] In one exemplary embodiment of this disclosure, the wheels of at least two of the walking wheel assemblies are able to move synchronously along the first direction under the drive of the first drive assembly, and the distance between the wheels and the main body in the first direction is the same during the synchronous movement.

[0013] In one exemplary embodiment of this disclosure, the wheels of at least two of the wheel assemblies are capable of rotating synchronously in the circumferential direction under the drive of the connected second drive assembly, and their angles relative to the main body in the circumferential direction are the same during the synchronous rotation.

[0014] In one exemplary embodiment of this disclosure, the lifting member is a lifting rod, the first driving component is connected to the lifting rod in a transmission manner, and the first driving component is used to drive the lifting rod to move the traveling wheel up and down along the axial direction of the lifting rod; the second driving component is connected to the lifting rod, and the second driving component is used to drive the lifting rod to move the traveling wheel around the circumference of the lifting rod.

[0015] In one exemplary embodiment of this disclosure, the second drive component includes: a mounting base, wherein the lifting member is movably connected to the mounting base in the first direction and is upper-limited connected in the circumferential direction.

[0016] In one exemplary embodiment of this disclosure, the lifting component is a lead screw.

[0017] In one exemplary embodiment of this disclosure, the first driving component includes:

[0018] A rotating component is rotatably mounted on the main body and positioned relative to the main body at an upper axial position on the lead screw; the rotating component is sleeved on the lead screw and threadedly connected to the lead screw.

[0019] A first driver, disposed on the main body, is used to rotate the rotating member to drive the lead screw to rise or fall relative to the rotating member along the axial direction.

[0020] In one exemplary embodiment of this disclosure, the first driving component further includes:

[0021] A first transmission gear set, wherein the first transmission gear is drivingly connected to the first driver and the rotating component.

[0022] In one exemplary embodiment of this disclosure, the walking wheel assembly further includes:

[0023] A position detection component is configured to detect the position of the lead screw relative to the rotating member; when the lead screw rises along the axial direction to a preset position under the drive of the first driver, the position detection component outputs a first position signal, and the first driver stops driving in response to the first position signal.

[0024] In one exemplary embodiment of this disclosure, the walking wheel assembly further includes:

[0025] Mounting base, the lifting component is movably connected to the mounting base in the first direction, and is upper-positioned in the circumferential direction;

[0026] A steering seat, wherein one end of the lifting component passes through the mounting base and is connected to the steering seat;

[0027] A position detection component is disposed on the mounting base and / or the steering seat and is configured to detect the gap between the mounting base and the steering seat; when the gap is less than or equal to a preset gap value, the position detection component outputs a first position signal, and the first driver responds to the first position signal to stop driving.

[0028] In one exemplary embodiment of this disclosure, the second driving component includes:

[0029] A fixing member is provided, wherein the fixing member is limitedly connected to the lead screw in the circumferential direction;

[0030] The second driver is used to drive the fixing member to rotate circumferentially along the lead screw, so as to drive the lead screw to rotate circumferentially.

[0031] In one exemplary embodiment of this disclosure, the second driving component further includes:

[0032] The second transmission gear set is connected to the second driver and the fixed member.

[0033] In one exemplary embodiment of this disclosure, the fixing member is a fixing sleeve, which is sleeved on the lead screw, and the inner ring of the fixing sleeve is limited and connected to the lead screw in the circumferential direction.

[0034] In an exemplary embodiment of this disclosure, the lead screw is provided with a groove extending axially, and the inner wall of the fixing sleeve is provided with a protrusion, the protrusion being located within the groove, so that the fixing sleeve is limitedly connected to the lead screw in the circumferential direction.

[0035] In one exemplary embodiment of this disclosure, the walking wheel assembly further includes:

[0036] The third drive assembly is connected to the lifting component, and the walking wheel is connected to the output shaft of the third drive assembly. The third drive assembly is used to drive the walking wheel to rotate.

[0037] In one exemplary embodiment of this disclosure, the lifting member includes:

[0038] A first link, one end of which is connected to the first drive assembly;

[0039] The second link has one end rotatably connected to the other end of the first link, and the other end of the second link is connected to the walking wheel; the first link and the second link can switch between a folded state and an unfolded state by relative rotation, thereby driving the walking wheel to move up and down along the first direction.

[0040] In one exemplary embodiment of this disclosure, the end of the second link away from the first link is connected to the stator of the second driver in the second drive assembly, and the traveling wheel is connected to the rotor of the second driver to drive the traveling wheel to rotate circumferentially along the axis extending in the first direction by the second driver.

[0041] In one exemplary embodiment of this disclosure, the walking wheel assembly further includes:

[0042] Steering seat, which is connected to the rotor of the second drive.

[0043] The third drive assembly has a stator connected to the steering seat and a rotor connected to the traveling wheel. The third drive assembly is used to drive the traveling wheel to rotate.

[0044] In one exemplary embodiment of this disclosure, the lifting member includes a plurality of first links and a plurality of second links.

[0045] In one exemplary embodiment of this disclosure, the walking wheel assembly further includes:

[0046] A steering seat is connected to the lifting member, and the first drive assembly is used to drive the lifting member to move the steering seat up and down along the first direction;

[0047] A connecting arm is rotatably connected to the steering seat, and an elastic element is provided between the connecting arm and the steering seat; when the connecting arm rotates relative to the steering seat to move closer in the first direction, the elastic element is compressed.

[0048] In one exemplary embodiment of this disclosure, the walking wheel assembly further includes:

[0049] A position sensor is provided on the steering seat. When the connecting arm rotates toward the steering seat and moves to a preset position in the first direction, the position sensor is triggered.

[0050] In one exemplary embodiment of this disclosure, the position sensor outputs a second position signal after being triggered, and the first drive component responds to the second position signal to stop driving the lifting member to descend along the first direction.

[0051] In one exemplary embodiment of this disclosure, the position sensor is a trigger-type position sensor.

[0052] In one exemplary embodiment of this disclosure, when the connecting arm rotates toward the steering seat and moves to a preset position in the first direction, the connecting arm triggers the trigger-type position sensor.

[0053] In one exemplary embodiment of this disclosure, the lifting member is provided with a through hole extending along the first direction, and a cable is threaded through the through hole.

[0054] According to another aspect of this disclosure, a cleaning apparatus is provided, the cleaning apparatus comprising:

[0055] Cleaning equipment

[0056] The aforementioned carrier device is used to dock with the cleaning equipment.

[0057] According to another aspect of this disclosure, a cleaning system is provided, the cleaning system comprising:

[0058] The aforementioned cleaning device;

[0059] A base station, which is used to interface with the cleaning equipment.

[0060] The carrying device provided in this disclosure can drive the lifting and lowering of the traveling wheels along a first direction through the first drive component, thereby adjusting the height of the traveling wheels; and can drive the traveling wheels to rotate circumferentially along the axis of extension of the first direction through the second drive component, thereby adjusting the travel direction of the drive wheels by rotating the traveling wheels, thus better driving the main body of the carrying device to move.

[0061] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0062] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0063] Figure 1 This is a schematic diagram of a carrier device provided for one embodiment of the present disclosure.

[0064] Figure 2 A schematic diagram of a cleaning device provided for one embodiment of this disclosure.

[0065] Figure 3 This is a schematic diagram illustrating the connection between a cleaning device and a base station, as provided in one embodiment of this disclosure.

[0066] Figures 4-7 This is a schematic diagram illustrating the process of a carrying device driving a cleaning device to climb a step, according to one embodiment of the present disclosure.

[0067] Figure 8 This is a schematic diagram of the housing of a carrier device provided in one embodiment of the present disclosure.

[0068] Figure 9 This is a schematic diagram of two sets of walking wheel assemblies provided for one embodiment of the present disclosure.

[0069] Figure 10 This is an exploded view of a partial structure of a walking wheel assembly provided in one embodiment of the present disclosure.

[0070] Figure 11 This is a partial schematic diagram of a walking wheel assembly provided in one embodiment of the present disclosure.

[0071] Figure 12 This is an exploded view of a partial structure of a walking wheel assembly provided in one embodiment of the present disclosure.

[0072] Figure 13 for Figure 12 A magnified view of point K in the middle.

[0073] Figure 14 This is a schematic diagram of a lifting component provided in one embodiment of the present disclosure.

[0074] Explanation of reference numerals in the attached figures:

[0075] 10. Supporting equipment; 20. Cleaning equipment; 30. Base station;

[0076] 110. Main body; 111. Load-bearing space; 112. Opening; 113. Shell; 114. Main frame;

[0077] 120. Support components;

[0078] 130. Drive assembly; 131. Driver; 132. Linkage;

[0079] 140. Walking wheel assembly;

[0080] 141. Walking wheels;

[0081] 142. First drive assembly; 1421. First driver; 1422. First transmission assembly; 1423. Rotating component; 14231. Sleeve portion; 14232. Gear portion; 1424. Fixed cylinder;

[0082] 143. Lifting component; 1430. Slot; 1431. First connecting rod; 1432. Second connecting rod;

[0083] 144. Second drive assembly; 1441. Second driver; 1442. Second transmission assembly; 1443. Fixing member; 14430. Locking protrusion; 1444. Fixing base;

[0084] 145. Third drive component;

[0085] 146. Mounting bracket;

[0086] 147. Steering seat;

[0087] 148. Connecting arm;

[0088] 1491. Position detection component; 1492. Position sensor. Detailed Implementation

[0089] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0090] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0091] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0092] This disclosure provides an embodiment of a cleaning system, such as... Figures 1 to 3 As shown, the cleaning system includes a cleaning device and a base station 30. The cleaning device includes a carrier device 10 and a cleaning device 20. The cleaning device 20 can be, for example, a robotic vacuum cleaner, a robotic mop, or a robotic vacuum and mop combo. The cleaning device 20 may include a device body, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. The base station 30 is used to dock with the cleaning device 20, allowing it to be parked. The cleaning device 20 can perform functions such as charging, self-cleaning, docking, sewage discharge, water replenishment, and dust collection on the base station 30.

[0093] In one embodiment, the device body is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 20. If the cleaning device 20 is a sweeping and mopping robot, then the cleaning device 20 operates on the ground.

[0094] In one embodiment, the drive module includes a drive wheel assembly. The drive module can control both the left and right wheels simultaneously. For more precise control of the machine's movement, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body.

[0095] In one embodiment, to enable the automatic cleaning device 20 to move more stably or with greater mobility on the ground, the automatic cleaning device 20 may include one or more steering wheels; wherein, the steering wheels may be driven wheels or driving wheels, and their structural forms include, but are not limited to, casters, and the steering wheels may be located in front of the driving wheel assembly. A drive motor provides power to the driving wheel assembly and / or the steering wheels.

[0096] In one embodiment, the sensing module includes a position determination device located above the device body, a buffer located in the forward portion of the device body, and a cliff sensor and various sensing devices such as an ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, and odometer located at the bottom of the device body, providing the control module with various position and motion state information of the device body. For example, the forward portion of the device body is provided with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device 20 to walk on the ground, the buffer detects one or more objects in the travel path of the cleaning device 20 via a sensor module, such as a collision sensor. The cleaning device 20 can pass through the objects detected by the collision sensor, such as steps, obstacles, or walls, and the control drive structure causes the cleaning device 20 to respond to the objects, such as climbing steps. Climbing includes moving from a lower surface to a higher surface and / or from a higher surface to a lower surface.

[0097] In one embodiment, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning device 20 work more in line with user requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information drawn by SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 20.

[0098] In one embodiment, the energy module includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit is charged by connecting to a charging station via charging electrodes located on the side or bottom of the unit.

[0099] In one embodiment, the human-machine interaction module includes buttons on the main unit panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the available function options to the user; and it may also include a mobile client application. For path navigation type cleaning equipment 20, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0100] In one embodiment, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include a cleaning head, a water tank, etc.

[0101] In one embodiment, the supporting device 10 has a supporting space 111, and the cleaning device 20 can be disposed in the supporting space 111. The supporting device 10 can, for example, drive the cleaning device 20 up stairs via the supporting space 111. The following will be combined with... Figures 4-8 Taking the example of the carrier device 10 driving the cleaning device 20 to climb from the third surface c to the second surface b, the carrier device 10 driving the cleaning device 20 to climb the stairs through the carrier space 111 is illustrated.

[0102] like Figure 4 As shown, when the cleaning device 20 enters the carrying space 111 of the carrying device 10, after the carrying device 10 receives the climbing command, the walking wheel assembly 140 guides the carrying device 10 to move towards the stairs. When the collision component set in front of the main body 110 contacts the side of the step and begins to climb the stairs, the driver 131 of the drive assembly 130 rotates forward to drive the transmission component to move. The transmission component drives the connecting rod 132 to move. The connecting rod 132 rotates with the connection point with the main body 110 as the rotation point, driving the support member 120 to move forward and downward, so that the support member 120 contacts the third surface a. The driver 131 continues to rotate forward. Since the support member 120 has already contacted the third surface a, the support member 120 cannot continue to move. Under the reaction force of the third surface a, the connecting rod 132 rotates with the connection point with the support member 120 as the rotation point. The main body 110 is lifted by the connecting rod 132, so that the main body 110 moves forward and upward, moving to the second surface b.

[0103] Next, as Figure 5 As shown, after the main body 110 moves to the second surface b, the wheel assembly 140 moves down and rests on the third surface a. Then, as... Figure 6 As shown, the forward rotation of the driver 131 and the connecting rod 132 drive the support member 120 to move upward and forward, causing the support member 120 to move to the second surface b. Then, as... Figure 7 As shown, the walking wheel assembly 140 is retracted to the main body 110, completing the climbing action from the third surface a to the second surface b.

[0104] It is understandable that the specific process of moving from the second surface b to the first surface c is the same as the principle of moving from the third surface a to the second surface b.

[0105] like Figure 6As shown, when the main body 110 moves to the second surface b, the traveling wheel assembly 140 moves downward and supports itself on the third surface a. The driver 131 rotates forward, and the connecting rod 132 drives the support member 120 to move upward and forward, causing the support member 120 to move to the second surface b. The traveling wheel assembly 140 rotates, causing the main body 110 to move laterally on the second surface b, which in turn drives the support member 120 to move laterally on the second surface b. Therefore, the support member 120 can be used to scrape dust from the second surface b. After the dust scraping is completed, the traveling wheel assembly 140 returns to its original position. To achieve better results by moving the main body of the equipment through the traveling wheel assembly 140, embodiments of this disclosure provide a traveling wheel assembly 140 for supporting the equipment 10.

[0106] like Figure 8 and Figure 9 As shown, the walking wheel assembly 140 includes a walking wheel 141, a lifting member 143, a first drive assembly 142, and a second drive assembly 144. The walking wheel 141 is connected to the lifting member 143, and the first drive assembly 142 is disposed on the main body 110. The first drive assembly 142 is driveably connected to the lifting member 143 and is used to drive the lifting member 143 to move the walking wheel 141 up and down along a first direction. The second drive assembly 144 is connected to the lifting member 143 and is used to drive the walking wheel 141 to rotate circumferentially along the axis extending in the first direction. The first direction can be a height direction perpendicular to the horizontal plane.

[0107] The first drive assembly 142 enables the lifting mechanism to move the traveling wheel 141 up and down along a first direction, thereby adjusting the height of the traveling wheel 141. The second drive assembly 144 enables the traveling wheel 141 to rotate circumferentially along the axis extending in the first direction, thus adjusting the direction of travel of the drive wheel and better driving the main body 110 to move.

[0108] In one embodiment, the second drive assembly 144 drives the traveling wheel 141 to rotate at a preset angle, which is greater than or equal to 90°. When the main body 110 needs to move laterally left or right on the step surface, the traveling direction of the traveling wheel 141 can be changed from the direction perpendicular to the step surface to the traveling direction parallel to the left and right direction of the step surface under the drive of the second drive assembly 144, thereby enabling the main body 110 to move laterally left or right on the step surface.

[0109] In one embodiment, the housing 113 of the main body 110 is provided with a support space 111, which has an opening 112 for the target device to enter and exit. The wheel assembly 140 is disposed on the side of the main body 110 away from the opening 112. By disposing of the wheel assembly 140 on the side of the main body 110 away from the opening 112, when the side of the main body 110 closest to the opening 112 is on a step surface, the wheel assembly 140 on the other side provides more stable support, thereby improving the stability and reliability of the main body 110 when it moves on the step surface via the wheel assembly 140.

[0110] In one embodiment, the supporting device 10 includes a plurality of wheel assemblies 140, which are capable of synchronous or asynchronous movement. By using the multiple wheel assemblies 140 to support the main body 110, the stability and reliability of the main body 110 when moving on a step surface via the wheel assemblies 140 can be improved. Figure 8 and Figure 9 As shown, the carrying device 10 may be equipped with two sets of walking wheel assemblies 140, which are distributed on opposite sides of the main body 110.

[0111] In one embodiment, the wheels 141 of at least two wheel assemblies 140 are able to move synchronously in a first direction under the drive of the first drive assembly 142, and the distance between them and the main body 110 in the first direction is the same during the synchronous movement. By making the distance between the two wheel assemblies 140 and the main body 110 in the first direction the same during the synchronous movement, that is, the two wheel assemblies 140 can descend synchronously and simultaneously support the main body 110, thereby improving the stability of the support for the main body 110. Of course, the distance between the two wheel assemblies 140 and the main body 110 in the first direction during the synchronous movement can also be set differently as needed, and this disclosure does not limit this.

[0112] In one embodiment, the wheels 141 of at least two wheel assemblies 140 are able to rotate synchronously in the circumferential direction under the drive of the connected second drive assembly 144, and their circumferential angles relative to the main body 110 are the same during synchronous rotation. By making the circumferential angles of the two wheel assemblies 140 relative to the main body 110 the same during synchronous rotation, that is, the two wheels 141 can turn synchronously, thereby preventing the position of the main body 110 from shifting during rotation. Of course, the circumferential angles of the two wheel assemblies 140 relative to the main body 110 during synchronous rotation can also be set to be different as needed, and this disclosure does not limit this.

[0113] In one embodiment, the lifting member 143 is a lifting rod. A first drive assembly 142 is connected to the lifting rod and is used to drive the lifting rod to move the traveling wheel 141 up and down along the axial direction of the lifting rod. A second drive assembly 144 is connected to the lifting rod and is used to drive the lifting rod to rotate the traveling wheel 141 around the circumference of the lifting rod. By using the linear motion of the lifting rod to drive the traveling wheel 141 to move up and down, the height control of the traveling wheel 141 can be more precise.

[0114] like Figure 9 and Figure 10 As shown, the lifting component 143 is a lead screw, and the second drive assembly 144 includes a mounting base 146. The lifting component 143 is movably connected to the mounting base 146 in a first direction and is upper-limited in the circumferential direction. When the lead screw is driven, it remains stationary relative to the mounting base 146 in the rotational direction but moves in the height direction, thereby driving the traveling wheel 141 to rise and fall.

[0115] like Figure 10 As shown, the first drive assembly 142 includes a rotating member 1423 and a first driver 1421. The rotating member 1423 is rotatably mounted on the main body 110 and is positioned at an upper limit relative to the main body 110 in the axial direction of the lead screw. The rotating member 1423 is sleeved on the lead screw and threadedly connected to it. The first driver 1421 is mounted on the main body 110 and is used to rotate the rotating member 1423 to drive the lead screw to rise or fall axially relative to the rotating member 1423. Because the rotating member 1423 is positioned at an upper limit in the rotational axis, for example, by clamping and limiting it with a mounting housing, when the rotating member 1423 is rotated by the first driver 1421, the lead screw can rise and fall axially, thereby driving the traveling wheel 141 to rise and fall. Furthermore, by using the cooperation between the lead screw and the rotating member 1423, the lifting height of the lead screw can be precisely controlled by controlling the rotation stroke of the rotating member 1423.

[0116] The first drive assembly 142 further includes a first transmission gear set, which drives the first driver 1421 and the rotating member 1423. Connecting the first driver 1421 and the rotating member 1423 via the first transmission gear set achieves a speed reduction effect, lowering the output power requirement of the first driver 1421; simultaneously, it facilitates the placement of the first driver 1421 on the main body 110. The first transmission gear set may include one or more transmission gears.

[0117] In one embodiment, the walking wheel assembly 140 further includes a position detection component 1491, which is configured to detect the position of the lead screw relative to the rotating member 1423; when the lead screw rises axially to a preset position under the drive of the first driver 1421, the position detection component 1491 outputs a first position signal, and the first driver 1421 stops driving in response to the position signal.

[0118] In one embodiment, such as Figure 10 and Figure 11 As shown, the steering seat 147 and the position detection component 1491 are connected at one end of the lifting member 143 through the mounting seat 146. The position detection component 1491 is disposed on the mounting seat 146 and / or the steering seat 147 and is configured to detect the gap between the mounting seat 146 and the steering seat 147. When the gap is less than or equal to a preset gap value, which can be 5mm to 10mm, such as 5mm, 6mm, 7mm, 8mm, 9mm, 10mm, etc., the position detection component 1491 outputs a first position signal, and the first driver 1421 responds to the first position signal and stops driving.

[0119] By setting the position detection component 1491, the rising height of the lead screw can be detected. When the gap between the steering seat 147 and the mounting seat 146 is small, the position detection component 1491 is triggered, thereby stopping the lead screw from continuing to rise through the first driver 1421. This avoids the lead screw from continuing to rise after the steering seat 147 contacts the mounting seat 146, which could lead to the lead screw and the threaded structure of the rotating part 1423 locking together and preventing relative rotation during reversal. At the same time, the rising height of the traveling wheel 141 is also detected, which can help determine the rising height of the traveling wheel 141.

[0120] The position detection component 1491 can be a trigger switch, which can be fixed on the mounting base 146. When the steering seat 147 rises to a preset position, the elastic switch of the trigger switch is pressed, thereby triggering the position detection component 1491. When the steering seat 147 descends away from the preset position, the elastic switch of the trigger switch returns to its initial position, thus determining the position of the steering seat 147 by the state of the trigger switch. Of course, the position detection component 1491 can also be a photoelectric detection switch, and this disclosure does not limit it. The preset position can be a position where the steering seat 147 rises to a position with a small gap before it reaches the mounting base 146, for example, the gap can be 2mm to 10mm, such as 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm, 10mm, etc., to avoid the screw and the threaded structure of the rotating component 1423 locking together after they come into contact.

[0121] In one embodiment, such as Figure 10 and Figure 11 As shown, the traveling wheel assembly 140 further includes a connecting arm 148, which is rotatably connected to the steering seat 147, and an elastic element is provided between the connecting arm 148 and the steering seat 147; when the connecting arm 148 rotates relative to the steering seat 147 to move closer in a first direction, the elastic element is compressed. The initial elastic force of the elastic element enables the connecting arm 148 and the steering seat 147 to have a certain rotation angle.

[0122] like Figure 11 As shown, the traveling wheel assembly 140 also includes a position sensor 1492, which is mounted on the steering seat 147. The position sensor 1492 is triggered when the connecting arm 148 rotates towards the steering seat 147 and moves to a preset position in a first direction. When the lead screw drives the traveling wheel 141 to contact the ground via the lifting member 143, the ground exerts a reaction force on the traveling wheel 141, causing the traveling wheel 141 to drive the connecting arm 148 to rotate towards the steering seat 147. When the connecting arm 148 approaches the steering seat 147, the position sensor 1492 is triggered. At this time, the second position signal output by the position sensor 1492 can be used to determine whether the traveling wheel 141 has contacted the ground. The first driver 1421 can be used to stop the descent of the lifting component 143, thereby determining the descent height of the traveling wheel 141. The preset position can be a position where the connecting arm 148 rotates and rises to a point with a small gap before reaching the steering seat 147, for example, a gap of 2mm to 10mm, such as 2mm, 3mm, 4mm, 5mm, 6mm, 7mm, 8mm, 9mm, 10mm, etc.

[0123] The position sensor 1492 can be a trigger-type position sensor. The trigger-type position sensor can be mounted on the connecting arm 148 or the steering seat 147. By bringing the arm close to the steering seat 147, the trigger-type position sensor can be activated by pressing it against the arm or the steering seat 147. The trigger-type position sensor can be, for example, a microswitch with high response sensitivity. Of course, the position sensor can also be a photoelectric detection switch; this disclosure does not limit its application.

[0124] In one embodiment, such as Figure 12 As shown, the second drive assembly 144 includes a second driver 1441 and a fixing member 1443. The fixing member 1443 is connected to the lead screw in the circumferential direction for limiting the connection. The second driver 1441 is used to drive the fixing member 1443 to rotate in the circumferential direction of the lead screw, so as to drive the lead screw to rotate in the circumferential direction.

[0125] When the fixing member 1443 is driven to rotate by the second driver 1441, since the fixing member 1443 is limited to the lead screw in the circumferential direction, it can drive the lead screw to rotate synchronously, thereby driving the traveling wheel 141 to achieve the steering function.

[0126] Among them, such as Figure 12 As shown, the second drive assembly 144 further includes a second transmission assembly 1442, which connects the second driver 1441 and the fixing member 1443. Connecting the second driver 1441 and the fixing member 1443 via the second transmission assembly 1442 achieves a deceleration effect, reducing the output power requirement of the second driver 1441; simultaneously, it facilitates the placement of the second driver 1441 on the main body 110. The second transmission assembly 1442 may include one or more transmission gears.

[0127] In one embodiment, such as Figure 12 As shown, the fixing component 1443 is a fixing sleeve, which is fitted onto the lead screw, and the inner ring of the fixing sleeve is limited to the lead screw in the circumferential direction.

[0128] Among them, such as Figure 12 As shown, the fixing member 1443 includes a sleeve portion 14231 and a gear portion 14232. The sleeve portion 14231 is sleeved on the lead screw, and the inner ring of the sleeve portion 14231 is limitedly connected to the lead screw in the circumferential direction. The gear portion 14232 meshes with the second transmission gear set to realize gear rotation.

[0129] like Figure 12 and Figure 13 As shown, the lead screw has an axially extending groove 1430, and the inner wall of the fixing sleeve has a retaining protrusion 14430 located within the groove 1430, so that the fixing sleeve is circumferentially connected to the lead screw for limiting. Since the groove 1430 on the lead screw extends axially, the fixing sleeve can be fitted onto the end of the lead screw and moved to the installation position by linear movement along the axial direction of the lead screw.

[0130] In one embodiment, such as Figure 12 As shown, the second drive assembly 144 further includes a fixing seat 1444, which is fixedly connected to the main frame 114 on the main body 110, so that the walking wheel assembly 140 is assembled onto the main body 110.

[0131] The fixed base 1444 is formed by the snap-fitting of the bottom shell and the top shell. The first transmission assembly 1422 and the rotating component 1423 are disposed in the receiving space of the fixed base 1444. The first driver 1421 is disposed on the fixed base 1444 for heat dissipation.

[0132] like Figure 12 As shown, the fixed base 1444 is also provided with a fixed cylinder 1424, which is fixedly connected to the mounting base 146 to form a limit on the lead screw in the radial direction, thereby improving the stability of the lead screw when it is raised or lowered.

[0133] In one embodiment, such as Figure 11 As shown, the walking wheel assembly 140 also includes a third drive assembly 145, which is connected to the lifting member 143. The walking wheel 141 is connected to the output shaft of the third drive assembly 145, and the third drive assembly 145 is used to drive the walking wheel 141 to rotate.

[0134] The stator of the third driver in the third drive assembly 145 is fixedly connected to the connecting arm 148 and rotatably connected to the shaft of the walking wheel 141 to drive the walking wheel 141 to rotate.

[0135] In one embodiment, such as Figure 14 As shown, the lifting component 143 includes: a first link 1431 and a second link 1432. One end of the first link 1431 is connected to the first drive assembly 142, one end of the second link 1432 is rotatably connected to the other end of the first link 1431, and the other end of the second link 1432 is connected to the walking wheel 141. The first link 1431 and the second link 1432 can switch between a folded state and an unfolded state by relative rotation, thereby driving the walking wheel 141 to rise and fall along a first direction.

[0136] like Figure 14 As shown, the end of the second link 1432 away from the first link 1431 is connected to the stator of the second driver 1441 in the second drive assembly 144, and the walking wheel 141 is connected to the rotor of the second driver 1441 so that the second driver 1441 drives the walking wheel 141 to rotate circumferentially along the first direction extension axis.

[0137] In this configuration, the steering seat 147 is connected to the rotor of the second drive 1441, the stator of the third drive in the third drive assembly 145 is connected to the steering seat 147, the rotor of the third drive is connected to the traveling wheel 141, and the third drive assembly 145 is used to drive the traveling wheel 141 to rotate. When a connecting arm 148 is provided, the connecting arm 148 is rotatably connected to the steering seat 147, the stator of the third drive is connected to the connecting arm 148, and the rotor of the third drive is connected to the shaft of the traveling wheel 141.

[0138] like Figure 14 As shown, the lifting component 143 includes a plurality of first links 1431 and a plurality of second links 1432. The arrangement of the plurality of first links 1431 and the plurality of second links 1432 can provide strength for switching between the folded state and the unfolded state, thereby improving the stability of the main body 110 support.

[0139] In one embodiment, the lifting member 143 is provided with a through hole extending along a first direction, through which a cable is threaded. This enables the transmission of electrical energy and / or signals to devices that require power supply and / or communication, such as the second drive assembly 144, the third drive assembly 145, the position sensing assembly, and the position sensor at the bottom. This achieves a hidden cable arrangement, preventing the cables from being exposed and affecting their service life.

[0140] When the lifting component 143 is a lead screw, the through hole can penetrate through both ends of the lead screw along its axial direction, or substantially penetrate the lead screw, and the opening 112 of the through hole protrudes from the outer peripheral surface of the lead screw near its end. When the lifting component 143 is a linkage structure, through holes can be formed in the first linkage 1431 and the second linkage 1432, and the cable can be sequentially threaded through the through holes of the first linkage 1431 and the second linkage 1432.

[0141] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A load-bearing device, characterized in that, include: Main body; Support member, which is connected to the main body; The walking wheel assembly includes a walking wheel, a lifting component, a first drive component, and a second drive component. The walking wheel is connected to the lifting component, and the first drive component is disposed on the main body. The first drive component is pulsatorically connected to the lifting component and is used to drive the lifting component to move the walking wheel up and down along a first direction. The second drive component is connected to the lifting component and is used to drive the walking wheel to rotate circumferentially along the axis extending in the first direction.

2. The bearing device according to claim 1, characterized in that, The second drive component drives the walking wheel to rotate at a preset angle, which is greater than or equal to 90°.

3. The bearing device according to claim 1, characterized in that, The main body is provided with a carrying space, which has an opening for the target device to enter and exit, and the walking wheel assembly is located on the side of the main body away from the opening.

4. The bearing device according to claim 1, characterized in that, The supporting device includes multiple walking wheel assemblies, which can move synchronously or asynchronously.

5. The bearing device according to claim 4, characterized in that, The wheels of at least two of the walking wheel assemblies are able to move synchronously in the first direction under the drive of the first drive assembly, and the distance between the wheels and the main body in the first direction is the same during the synchronous movement.

6. The bearing device according to claim 4, characterized in that, The wheels of at least two of the said walking wheel assemblies are able to rotate synchronously in the circumferential direction under the drive of the connected second drive assembly, and the angles relative to the main body in the circumferential direction are the same during the synchronous rotation.

7. The bearing device according to claim 1, characterized in that, The lifting component is a lifting rod. The first driving component is connected to the lifting rod in a transmission manner. The first driving component is used to drive the lifting rod to move the traveling wheel up and down along the axial direction of the lifting rod. The second driving component is connected to the lifting rod. The second driving component is used to drive the lifting rod to move the traveling wheel around the circumference of the lifting rod.

8. The bearing device according to claim 7, characterized in that, The second drive component includes: a mounting base, wherein the lifting member is movably connected to the mounting base in the first direction and is upper-limited connected in the circumferential direction.

9. The bearing device according to claim 7, characterized in that, The lifting component is a lead screw.

10. The bearing device according to claim 9, characterized in that, The first driving component includes: A rotating component is rotatably mounted on the main body and positioned relative to the main body at an upper axial position on the lead screw; the rotating component is sleeved on the lead screw and threadedly connected to the lead screw. A first driver, disposed on the main body, is used to rotate the rotating member to drive the lead screw to rise or fall relative to the rotating member along the axial direction.

11. The bearing device according to claim 10, characterized in that, The first driving component also includes: The first transmission gear set is connected to the first driver and the rotating component.

12. The bearing device according to claim 10, characterized in that, The wheel assembly also includes: A position detection component is configured to detect the position of the lead screw relative to the rotating member; when the lead screw rises along the axial direction to a preset position under the drive of the first driver, the position detection component outputs a first position signal, and the first driver stops driving in response to the first position signal.

13. The bearing device according to claim 10, characterized in that, The wheel assembly also includes: Mounting base, the lifting component is movably connected to the mounting base in the first direction, and is upper-positioned in the circumferential direction; A steering seat, wherein one end of the lifting component passes through the mounting base and is connected to the steering seat; A position detection component is disposed on the mounting base and / or the steering seat and is configured to detect the gap between the mounting base and the steering seat; when the gap is less than or equal to a preset gap value, the position detection component outputs a first position signal, and the first driver responds to the first position signal to stop driving.

14. The bearing device according to claim 9, characterized in that, The second driving component includes: A fixing member is provided, wherein the fixing member is limitedly connected to the lead screw in the circumferential direction; The second driver is used to drive the fixing member to rotate circumferentially along the lead screw, so as to drive the lead screw to rotate circumferentially.

15. The bearing device according to claim 14, characterized in that, The second driving component also includes: The second transmission gear set is connected to the second driver and the fixed member.

16. The bearing device according to claim 14, characterized in that, The fixing component is a fixing sleeve, which is sleeved on the lead screw, and the inner ring of the fixing sleeve is limited and connected to the lead screw in the circumferential direction.

17. The bearing device according to claim 16, characterized in that, The lead screw is provided with a groove extending along the axial direction, and the inner wall of the fixing sleeve is provided with a protrusion. The protrusion is located in the groove so that the fixing sleeve is limited and connected to the lead screw in the circumferential direction.

18. The bearing device according to claim 1, characterized in that, The wheel assembly also includes: The third drive assembly is connected to the lifting component, and the walking wheel is connected to the output shaft of the third drive assembly. The third drive assembly is used to drive the walking wheel to rotate.

19. The bearing device according to claim 1, characterized in that, The lifting component includes: A first link, one end of which is connected to the first drive assembly; The second link has one end rotatably connected to the other end of the first link, and the other end of the second link is connected to the walking wheel; the first link and the second link can switch between a folded state and an unfolded state by relative rotation, thereby driving the walking wheel to move up and down along the first direction.

20. The bearing device according to claim 19, characterized in that, The end of the second link away from the first link is connected to the stator of the second driver in the second drive assembly, and the traveling wheel is connected to the rotor of the second driver to drive the traveling wheel to rotate circumferentially along the axis extending in the first direction by the second driver.

21. The bearing device according to claim 20, characterized in that, The wheel assembly also includes: Steering seat, which is connected to the rotor of the second drive. The third drive assembly has a stator connected to the steering seat and a rotor connected to the traveling wheel. The third drive assembly is used to drive the traveling wheel to rotate.

22. The bearing device according to claim 19, characterized in that, The lifting component includes multiple first connecting rods and multiple second connecting rods.

23. The bearing device according to claim 1, characterized in that, The wheel assembly also includes: A steering seat is connected to the lifting member, and the first drive assembly is used to drive the lifting member to move the steering seat up and down along the first direction; A connecting arm is rotatably connected to the steering seat, and an elastic element is provided between the connecting arm and the steering seat; when the connecting arm rotates relative to the steering seat to move closer in the first direction, the elastic element is compressed.

24. The bearing device according to claim 23, characterized in that, The wheel assembly also includes: A position sensor is provided on the steering seat. When the connecting arm rotates toward the steering seat and moves to a preset position in the first direction, the position sensor is triggered.

25. The bearing device according to claim 24, characterized in that, When the position sensor is triggered, it outputs a second position signal. The first drive component responds to the second position signal and stops driving the lifting component to descend along the first direction.

26. The bearing device according to claim 24, characterized in that, The position sensor is a trigger-type position sensor.

27. The bearing device according to claim 26, characterized in that, When the connecting arm rotates toward the steering seat and moves to a preset position in the first direction, the connecting arm triggers the trigger-type position sensor.

28. The bearing device according to claim 1, characterized in that, The lifting component has a through hole extending along the first direction, and a cable is threaded through the through hole.

29. A cleaning device, characterized in that, include: Cleaning equipment The carrier device according to any one of claims 1 to 28, wherein the carrier device is used for docking with the cleaning device.

30. A cleaning system, characterized in that, include: The cleaning apparatus according to claim 29; A base station, which is used to interface with the cleaning equipment.

Images