Bearing device, cleaning device and cleaning system

Abstract

The utility model discloses a bearing device, a cleaning device and a cleaning system, and belongs to the technical field of electrical equipment. The bearing device comprises a main body assembly, a supporting assembly and a driving assembly, and the main body assembly is used for bearing a borne object; the driving assembly is in transmission connection with the body assembly and the supporting assembly. The driving assembly comprises a motor and is used for driving the main body assembly and the supporting assembly to move relatively so that the main body assembly and the supporting assembly can cross obstacles. The support assembly crosses obstacles when the support assembly moves relative to the main body assembly. The driving assembly drives the main body assembly and the supporting assembly to move relatively, so that the whole bearing device can carry the borne object to surmount obstacles, and the use range of the borne object is widened.

Description

Technical Field

[0001] This application belongs to the field of electrical equipment technology, and in particular relates to a support device, a cleaning device, and a cleaning system. Background Technology

[0002] With the improvement of living standards, automated cleaning equipment is widely used in daily life. These devices can replace manual floor cleaning, bringing great convenience to life; for example, robotic vacuum cleaners can automatically clean floors. However, traditional robotic vacuum cleaners are limited by their mobility and struggle to handle stair cleaning in multi-story environments such as duplexes and villas. Furthermore, everyday scenarios involving heavy object transport and obstacle crossing place higher demands on the mobility of automated equipment. While some related technologies can achieve simple stair-climbing functions, they generally suffer from complex structures, poor adaptability, and limited load-bearing capacity, making it difficult to meet practical application needs. Utility Model Content

[0003] This application aims to at least partially solve the technical problem of limited application range of the supported object. To this end, this application provides a support device, a cleaning device, and a cleaning system.

[0004] In a first aspect, an embodiment of this application provides a support device, comprising:

[0005] The main component is used to support the object being carried.

[0006] A support assembly and a drive assembly, wherein the drive assembly is drivingly connected to the main body assembly and the support assembly; the drive assembly includes a motor.

[0007] The driving component is used to drive the main body component and the supporting component to move relative to each other, so that the main body component and the supporting component can overcome obstacles.

[0008] The support component moves relative to the main component to overcome obstacles. The drive component drives the relative movement of the main component and the support component, enabling the entire support device to carry the load over obstacles and increasing the usability of the load.

[0009] In this embodiment, the main body component and the support component can be driven to climb stairs by the same drive component. The movement of different structures can be realized by a single drive component, which can reduce the number of drive structures and make the structure of the entire support device more compact.

[0010] In an optional embodiment of this application, the driving component is used to drive the main body component and the support component to move alternately.

[0011] In an optional embodiment of this application, the driving component moves in the same direction, causing the main body component and the support component to move alternately.

[0012] In an optional embodiment of this application, the support component is supported on the second surface, and the driving component is used to drive the main body component to move from the second surface to the first surface or from the first surface to the second surface, wherein the first surface is higher than the second surface.

[0013] In an optional embodiment of this application, the main body component is supported on a first surface, and the driving component is used to drive the support component to move from a second surface to the first surface or from the first surface to the second surface, wherein the first surface is higher than the second surface.

[0014] In an optional embodiment of this application, the driving component includes a first driving member, a first transmission member, and a first connecting member. The first driving member is throttle-connected to the first transmission member, the first transmission member is throttle-connected to the first connecting member, and the first connecting member is rotatably connected to the main body component and the support component.

[0015] In an optional embodiment of this application, the first drive member and the first transmission member are mounted on the main body assembly.

[0016] In an optional embodiment of this application, the main body component has a mounting cavity, and the first drive member and the first transmission member are mounted in the mounting cavity.

[0017] In an optional embodiment of this application, the first transmission component includes a mounting box and a first gear set. The mounting box is connected to the main body component, the first gear set is disposed inside the mounting box, and the first driving component is disposed outside the mounting box. The first driving component is connected to the first gear set in a transmission manner.

[0018] In an optional embodiment of this application, there are two of the support components and the first connecting member. The first transmission component further includes a transmission shaft and a transmission wheel. The transmission shaft connects the first gear set and the transmission wheel. The first gear set is driven to one of the first connecting members, and the transmission wheel is driven to the other first connecting member.

[0019] In an optional embodiment of this application, the first connector includes a first link and a second link, which are respectively connected to both ends of the support assembly.

[0020] In an optional embodiment of this application, the main body component further has an inlet and outlet communicating with the receiving cavity, through which the cleaning device can enter and exit the receiving cavity, and the support component is disposed on one side of the inlet and outlet.

[0021] In an optional embodiment of this application, there are two support components, and the inlet / outlet is disposed between the two support components.

[0022] In an optional embodiment of this application, the support assembly includes a bracket and a support arm, the bracket being connected to the drive assembly, and the support arm being movably connected to the bracket.

[0023] In an optional embodiment of this application, a portion of the bracket is located on the second surface, and the support arm is located on the third surface, wherein the second surface is higher than the third surface.

[0024] In an optional embodiment of this application, the support arm is supported on a third surface, a portion of the bracket is supported on a second surface, and the driving component is used to drive the main body component to move from the second surface to the first surface or from the first surface to the second surface;

[0025] Wherein, the first surface is higher than the second surface, and the second surface is higher than the third surface.

[0026] In an optional embodiment of this application, the entire support is supported on the second surface, and the driving component is used to drive the main body component to move from the second surface to the first surface or from the first surface to the second surface;

[0027] Wherein, the first surface is higher than the second surface, and the second surface is higher than the third surface.

[0028] In an optional embodiment of this application, the support arm includes a support member, a second drive member, and a second transmission member. The second transmission member connects the support member and the second drive member, and the second drive member drives the second transmission member to move the support member up and down relative to the bracket.

[0029] In an optional embodiment of this application, the second transmission component includes a second gear set, a first sleeve, a first transmission rod, and a connecting rod. The second gear set is pulsatorically connected to the second driving component and the first sleeve. The first transmission rod passes through the first sleeve and is movably rotatably connected to the first sleeve. The connecting rod connects the first transmission rod and the support component.

[0030] In an optional embodiment of this application, the support assembly further includes a fixing member, which is mounted on the bracket, and the second driving member and the second transmission member are mounted on the fixing part.

[0031] In an optional embodiment of this application, the support component further includes a first detection element, which is mounted on the bracket and is used to detect a positioning signal of the support component being retracted into the bracket.

[0032] In an optional embodiment of this application, the support component further includes a second detection element, wherein the first detection element is installed on the support component, and the second detection element is used to detect the positioning signal of the support component supporting the step surface.

[0033] In an optional embodiment of this application, the supporting device further includes a traveling wheel assembly connected to the main body assembly, the traveling wheel assembly being used to guide the movement of the main body assembly and to support the main body assembly.

[0034] In an optional embodiment of this application, the walking wheel assembly includes a walking wheel, a third driving member, and a third transmission member. The third driving member is mounted on the main body assembly and is connected to the third transmission member. The walking wheel is connected to the third transmission member, and the third driving member is used to drive the third transmission member to move the walking wheel up and down in a third direction.

[0035] In an optional embodiment of this application, the walking wheel assembly is used to guide the main body assembly to move along a first direction or a second direction, wherein the first direction and the second direction are set at an angle.

[0036] In an optional embodiment of this application, the walking wheel assembly includes a walking wheel, a fourth driving member, and a fourth transmission member. The fourth driving member drives the walking wheel to switch its movement direction from a first direction to a second direction, or from the second direction to the first direction, through the fourth transmission member.

[0037] In an optional embodiment of this application, the walking wheel assembly includes a walking wheel and a fifth driving member, wherein the fifth driving member is connected to the shaft of the walking wheel and is used to drive the walking wheel to rotate.

[0038] In an optional embodiment of this application, there are two walking wheel assemblies, and the two walking wheel assemblies move synchronously or asynchronously.

[0039] In an optional embodiment of this application, the two walking wheel assemblies move alternately or synchronously along a first direction and synchronously along a second direction.

[0040] In an optional embodiment of this application, the two walking wheel assemblies may move synchronously or asynchronously along a third direction.

[0041] In an optional embodiment of this application, the walking wheel assembly is disposed on the side of the main body assembly away from the inlet and outlet.

[0042] In an optional embodiment of this application, the support device further includes a cleaning component, which is mounted on the support component and is used to clean the step surface during the movement of the main body component in the second direction.

[0043] In an optional embodiment of this application, the cleaning component includes a cleaning element and a second connecting element. One end of the second connecting element is rotatably connected to the support component, and the other end is connected to the cleaning element, so that the cleaning element can move along a first direction.

[0044] In an optional embodiment of this application, the second connector includes a connecting portion and an abutting portion that are connected to each other. The cleaning member is connected to the abutting portion, the connecting portion is rotatably connected to the support assembly, and the abutting portion protrudes from the support assembly.

[0045] In an optional embodiment of this application, the cleaning component further includes a limiting member, which is connected to the support component to form a limiting groove, and the second connecting member passes through the limiting groove to limit the swing range of the second connecting member.

[0046] In an optional embodiment of this application, the cleaning component includes a cleaning part and an installation part. The installation part is connected to the second connector. The installation part has a guide groove arranged along a first direction. The support component is provided with a guide part, which is disposed in the guide groove.

[0047] In an optional embodiment of this application, the cleaning component further includes a second elastic element that connects the second connector and the support component.

[0048] In an optional embodiment of this application, the main body component has a receiving cavity and an inlet / outlet communicating with the receiving cavity. The cleaning component further includes an eighth driving member, which, together with the second connecting member, is used to guide the second connecting member to swing away from the inlet / outlet, so that the cleaning component moves away from the inlet / outlet.

[0049] In an optional embodiment of this application, the supporting device further includes a fixing component installed within the receiving cavity for fixing the cleaning equipment.

[0050] In an optional embodiment of this application, the fixing component includes a driving component, a transmission component, and two clamping components. The driving component is driven by the transmission component, and the transmission component is driven by the two clamping components. The driving component drives the two clamping components to move towards or away from each other through the transmission component to clamp or release the cleaning device.

[0051] In an optional embodiment of this application, the fixing component includes a first position detection element and a second position element. The first position detection element is used to detect a fixing signal in which the clamping element fixes the cleaning device, and the second position detection element is used to detect a release signal in which the clamping element releases the cleaning device.

[0052] In an optional embodiment of this application, the fixing component further includes a fixing box, the driving component and the transmission component of the fixing component are installed in the fixing box, a portion of the clamping component is disposed in the fixing box, and a portion of the clamping component is disposed outside the fixing box.

[0053] In an optional embodiment of this application, the main body component has a receiving cavity for fixing the carried object and an inlet / outlet for the carried object to enter and exit the receiving cavity, and the fixing component is disposed near the inlet / outlet.

[0054] In an optional embodiment of this application, the supporting device further includes a rotating assembly connected to the main body assembly for supporting the cleaning equipment, and the rotating assembly is used to drive the supported object to rotate relative to the main body assembly.

[0055] In an optional embodiment of this application, the rotating assembly includes a seventh driving member and a rotating member, the rotating member carrying the cleaning device, and the seventh driving member driving the rotating member to rotate so that the side brush of the cleaning device is located outside the main body assembly.

[0056] In an optional embodiment of this application, the rotating component further includes a first protrusion and a second protrusion, the first protrusion and the second protrusion being spaced apart from the rotating member, and the main body component being provided with a third detection element, the third detection element being used to detect the positioning signal of the first protrusion and the positioning signal of the second protrusion, the positioning signal of the first protrusion indicating that the forward direction of the cleaning device has moved to a first direction, and the positioning signal of the second protrusion indicating that the forward direction of the cleaning device has moved to a second direction.

[0057] In an optional embodiment of this application, when the main body component moves along the second direction, the side brush of the cleaning device is located outside the main body component.

[0058] In an optional embodiment of this application, the support device further includes an auxiliary wheel assembly disposed on one side of the main body assembly.

[0059] In an optional embodiment of this application, the auxiliary wheel assembly includes an auxiliary wheel, a connecting shaft, a fixed sleeve, and an elastic element. The fixed sleeve is connected to the main body assembly, the connecting shaft passes through the fixed sleeve, the auxiliary wheel is connected to the connecting shaft, and the elastic element is disposed between the fixed sleeve and the auxiliary wheel.

[0060] In an optional embodiment of this application, the main component is provided with a fourth detection element, which is triggered by the auxiliary wheel when the auxiliary wheel touches the ground.

[0061] Secondly, embodiments of this application provide a cleaning device, including a cleaning device and the supporting device described in the first aspect, wherein the fixing component supports the cleaning device.

[0062] The cleaning device provided in the second aspect has the same beneficial effects as the support device provided in the first aspect, and will not be described again here.

[0063] Thirdly, embodiments of this application provide a cleaning system, including cleaning equipment, a cleaning base station, and the supporting device described in the first aspect, wherein the cleaning equipment is disposed within the cleaning base station or the supporting device.

[0064] The beneficial effects of the cleaning system provided in the third aspect are the same as those of the support device provided in the first aspect, and will not be repeated here. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 A first-view structural schematic diagram of the support device provided in an embodiment of this application is shown.

[0067] Figure 2 A second-view structural schematic diagram of the support device provided in an embodiment of this application is shown.

[0068] Figure 3 A schematic diagram of the structure of the support device provided in the embodiment of this application with the top cover removed is shown.

[0069] Figure 4 The mounting position of the fixing component on the main component is shown.

[0070] Figure 5 A schematic diagram of the cleaning equipment without fixed components is shown.

[0071] Figure 6 A schematic diagram of the structure in which the fixing components secure the cleaning equipment is shown.

[0072] Figure 7 It shows Figure 3 Top view.

[0073] Figure 8 It shows Figure 5 A schematic diagram of the mounting and fixing box.

[0074] Figure 9 It shows Figure 6 A schematic diagram of the mounting and fixing box.

[0075] Figure 10 A schematic diagram of the collision component is shown.

[0076] Figure 11 A schematic diagram showing the alternating movement of the main component and the support component is shown.

[0077] Figure 12 A schematic diagram of the drive component being installed on the main component is shown.

[0078] Figure 13 A schematic diagram of the drive component is shown.

[0079] Figure 15 A schematic diagram of the support device is shown.

[0080] Figure 14 A schematic diagram of the drive assembly with part of the mounting box removed is shown.

[0081] Figure 16 A schematic diagram of the support component is shown.

[0082] Figure 17 The diagram shows a structural schematic of the support assembly with part of the bracket removed.

[0083] Figure 18 The diagram shows the support arm, bracket, and main body assembly supported on different surfaces.

[0084] Figure 19 A schematic diagram of the support arm is shown.

[0085] Figure 20 A schematic diagram of the support arm without the fixing part is shown.

[0086] Figure 21 It shows Figure 17 A magnified view of a section at point I.

[0087] Figure 22 A bottom view of the support is shown.

[0088] Figure 23 A bottom view of the support device is shown.

[0089] Figure 24 It shows Figure 23 A magnified view of a section of BB.

[0090] Figure 25 It shows Figure 24 A magnified view of section II in the middle.

[0091] Figure 26 A schematic diagram of the auxiliary wheel assembly is shown.

[0092] Figure 27 A rear view of the support device is shown.

[0093] Figure 28 A bottom view of the support device is shown.

[0094] Figure 29 A schematic diagram of the walking wheel assembly is shown.

[0095] Figure 30 An exploded view of the first exploded perspective of the walking wheel assembly is shown.

[0096] Figure 31 An exploded view of the walking wheel assembly from a second exploded perspective is shown.

[0097] Figure 32 It shows Figure 31 A magnified view of section III in the middle.

[0098] Figure 33 A schematic diagram of the fixed sleeve is shown.

[0099] Figure 34 A schematic diagram of the cleaning component is shown.

[0100] Figure 35 A schematic diagram of the structure is shown when the cleaning component avoids obstacles.

[0101] Figure 36 The installation locations of the two cleaning components and the mounting support components are shown.

[0102] Figure 37 A schematic diagram of the rotating assembly is shown.

[0103] Figures 38-43 A schematic diagram showing the support device being moved upstairs is provided.

[0104] Figures 44-52 A schematic diagram showing the support device descending to the floor is provided.

[0105] Reference numerals: 100-support device, 110-main body assembly, 112-receiving cavity, 112a-inlet / outlet, 113-mounting cavity, 114-base plate, 115-top cover, 116-main frame, 117-rear shell, 118-first cliff sensor, 119-second cliff sensor.

[0106] 120-Support assembly, 120a-First support assembly, 120b-Second support assembly, 122-Bracket, 1221-Allowing groove, 1223-Guide part, 124-Support arm, 1241-Support member, 1242-Second driving member, 1243-Second transmission member, 12431-Second gear set, 12432-First sleeve, 12433-First transmission rod, 12434-Connecting rod, 126-Fixing part, 127-First detection member, 128-Second detection member, 129-First cliff sensor, 125-Side detection member.

[0107] 130-Drive assembly, 131-First drive component, 132-First transmission component, 1322-Mounting box, 1324-First gear set, 1325-Drive shaft, 1326-Drive wheel, 1327-Tensioning shaft, 1328-Pressure conveyor belt, 134-First connector, 1342-First connecting rod, 1344-Second connecting rod;

[0108] 140-Fixing component, 141-Driver of the fixing component, 142-Transmission component of the fixing component, 143-Clamping component, 144-First position detection component, 145-Second position detection component, 146-Fixing box;

[0109] 150-Walking wheel assembly, 150a-First walking wheel assembly, 150b-Second walking wheel assembly, 151-Walking wheel, 1512-End cap, 1514-Main wheel, 152-Third drive component, 153-Third transmission component, 1531-Third gear set, 1532-Second sleeve, 1533-Second transmission rod, 15331-Slot, 1534-Fixed cylinder, 154-Fourth drive component, 155-Fourth transmission component, 1552-Fourth gear set, 1554-Fixed sleeve, 15541-Stop, 156-Fifth drive component, 1571-Fourth cliff sensor, 1572-Fifth cliff sensor, 1581-Sixth cliff sensor, 1582-Seventh cliff sensor;

[0110] 160-Auxiliary wheel assembly, 161-Auxiliary wheel, 162-Connecting shaft, 163-Fixing sleeve, 164-Elastic element, 165-Fourth detection element;

[0111] 170-Cleaning component, 170a-First cleaning component, 170b-First cleaning component, 172-Cleaning part, 1722-Cleaning section, 1724-Mounting section, 1726-Guide groove; 174-Second connector, 1742-Connecting section, 1744-Abutting section, 176-Second elastic element, 178-Eighth drive element, 1782-Dial, 1784-Cable, 179-Limiting element, 1791-Limiting groove;

[0112] 180-Rotating assembly, 182-Seventh driving component, 184-Rotating component, 185-First protrusion, 186-Second protrusion, 187-Third detection component, 188-Trigger part, 189-Side brush guide part;

[0113] 190 - Collision assembly, 192 - Base, 194 - Buffer housing, 196 - Buffer component, 198 - Third position detection component;

[0114] a - First surface, b - Second surface, c - Third surface. Detailed Implementation

[0115] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0116] It should be noted that all directional indications in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0117] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0118] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0119] With the improvement of living standards, cleaning equipment is widely used in daily life. Cleaning equipment can replace manual floor cleaning, bringing great convenience to life. For example, robotic vacuum cleaners can automatically clean floors. However, traditional robotic vacuum cleaners are limited by their mobility and struggle to handle stair cleaning in multi-story environments such as duplexes and villas. Furthermore, in daily life, scenarios such as moving heavy objects and crossing obstacles place higher demands on the mobility of automated equipment. While some related technologies can achieve simple stair-climbing functions, they generally suffer from complex structures, poor adaptability, and limited load-bearing capacity, making it difficult to meet practical application needs. This application provides a supporting device capable of carrying the object across obstacles, enabling the object to clean the upper surface of the obstacle or the area separated by the obstacle, thereby increasing the cleaning range of the cleaning equipment.

[0120] This application is described below with reference to the accompanying drawings and specific embodiments:

[0121] Figure 1 This is a first-view structural schematic diagram of the support device 100 provided in an embodiment of this application. Figure 2 This is a structural schematic diagram of the support device 100 provided in an embodiment of this application from a second perspective. Figure 3 A schematic diagram of the supporting device 100 provided in an embodiment of this application with its top cover removed is shown. Figure 1 , Figure 2 , Figure 3 As shown, this application embodiment provides a support device 100. The support device 100 provided in this application embodiment can carry the supported object across obstacles, so that the supported object can move the upper surface of the obstacle or the area separated by the obstacle, thereby increasing the scope of use of the supported object.

[0122] In addition, the supporting device 100 provided in this application embodiment can also carry items, such as transporting items across obstacles and up stairs. For ease of description, this application uses the supporting device 100 transporting cleaning equipment as an example. When the supporting device 100 carries other items, the same principle applies.

[0123] The obstacle can be a staircase. When encountering an obstacle such as a staircase, the support device 100 can carry the cleaning equipment up or down the stairs, enabling the cleaning equipment to clean the floors of different floors separated by the stairs, as well as the staircase surface. The stairs can include multiple steps, and the support device 100 can carry the cleaning equipment up and down multiple steps.

[0124] Obstacles can also be steps, which divide the same floor into different ground levels. The supporting device 100 can carry the cleaning equipment to lower or higher ground levels, allowing the cleaning equipment to clean the ground at different heights. Obstacles can also be thresholds, which divide the same space into different sub-spaces. The supporting device can also carry the cleaning equipment over thresholds, allowing the cleaning equipment to clean the spaces separated by the thresholds. In addition, obstacles can also be objects with a large upper surface. The supporting device 100 can carry the cleaning equipment to its upper surface, allowing the cleaning equipment to clean the upper surface of the obstacle. In this embodiment, for ease of description, the treads of the stair steps, the upper surface of the steps, the upper surface of the obstacles, and the ground are all referred to as step surfaces.

[0125] The support device 100 provided in this application embodiment can carry the cleaning equipment from a lower surface to a higher surface or from a higher surface to a lower surface, thereby increasing the cleaning range of the cleaning equipment. The following will describe in detail how the support device carries the cleaning equipment from a lower surface to a higher surface or from a higher surface to a lower surface, in conjunction with the specific structure of the support device.

[0126] The support device 100 includes a main body assembly 110, a support assembly 120, and a drive assembly 130. The main body assembly 110 is used to support the object being carried. The drive assembly 130 is a transmission connection between the main body assembly 110 and the support assembly 120. The drive assembly 130 is used to drive the main body assembly 110 and the support assembly 120 to move relative to each other, so that the main body assembly 110 and the support assembly 120 can climb to a higher or lower surface.

[0127] The main component 110 is the main structure of the entire support device 100. It is used to support the load and can also provide an installation base for the drive component 130, support component 120, etc. It can also accommodate cleaning equipment, so that the support device 100 can carry the cleaning equipment over obstacles during the climbing process.

[0128] In some embodiments, the main body assembly 110 may have a receiving cavity 112, in which a cleaning device or other supported object may be accommodated. The main body assembly 110 may include a base plate 114, a top cover 115, a main frame 116, and a rear shell 117. The base plate 114 is connected to the bottom of the main frame 116, the top cover 115 covers the top of the main frame 116, and the rear shell 117 is disposed behind the main frame 116. The base plate 114, the main frame 116, and the rear shell 117 form the receiving cavity 112.

[0129] The main component 110 also has an inlet and outlet 112a that communicates with the receiving cavity 112. The cleaning equipment can enter the receiving cavity 112 through the inlet and outlet 112a. The way the cleaning equipment enters the receiving cavity 112 is the same as the way the cleaning equipment enters the cleaning base station. Both are retreating back to the supporting device 100 or the cleaning base station. The specific method can be referred to the way the cleaning equipment returns to the cleaning base station, which will not be described in detail here.

[0130] After the cleaning equipment enters the receiving cavity 112, the front end of the cleaning equipment faces the inlet / outlet 112a, so that the direction of travel of the supporting device 100 is roughly the same as the direction of travel of the cleaning equipment itself.

[0131] In some other embodiments, the main component 110 may also be provided with a support surface, on which the cleaning equipment or other supported objects may be placed. The support surface may be the top surface of the main component 110.

[0132] In some exemplary embodiments, the support device 100 also includes a fixing component 140. Figure 4 The mounting position of the fixing component 140 on the main body component 110 is shown. Figure 4 As shown, the fixing component 140 is installed on the main body component 110. Specifically, when the main body component 110 is provided with a receiving cavity 112, after the cleaning equipment enters the receiving cavity 112, in order to improve the stability of the cleaning equipment in the receiving cavity 112, the fixing component 140 can be provided in the receiving cavity 112. The fixing component 140 is used to fix the cleaning equipment, reducing the possibility of the cleaning equipment shaking or detaching from the supporting device during the process of the supporting device 100 carrying the cleaning equipment over obstacles.

[0133] The fixing component 140 is positioned close to the inlet / outlet 112a. Since the inlet / outlet 112a is for the cleaning equipment to enter and exit the receiving cavity 112, and the opening of the inlet / outlet 112a is relatively large, the supporting device 100 will undergo complex movements in multiple directions such as up, down, forward, and backward during obstacle crossing. This may cause the cleaning equipment to sway within the receiving cavity 112, or even detach from the inlet / outlet 112a and exit the receiving cavity 112. Positioning the fixing component 140 close to the inlet / outlet 112a and fixing the cleaning equipment from the front reduces the possibility of the cleaning equipment sliding out of the inlet / outlet 112a, thus improving the fixing effect.

[0134] Figure 5 A schematic diagram of the structure of the fixing component 140 without fixing the cleaning equipment is shown. Figure 6 A schematic diagram of the structure in which the fixing component 140 secures the cleaning equipment is shown, such as... Figure 5 and Figure 6As shown, regarding the structure of the fixing component 140, the fixing component 140 includes a driving component 141, a transmission component 142, and two clamping components 143. The driving component 141 is connected to the transmission component 142, and the transmission component 142 is connected to the two clamping components 143. The driving component 141 drives the two clamping components 143 to move towards or away from each other through the transmission component 142, so as to fix or detach the cleaning equipment.

[0135] When the cleaning equipment moves into the receiving cavity 112, the drive component 141 of the fixing component is activated and rotates in the first rotation direction. The transmission component 142 of the fixing component drives the two clamping components 143 to move closer to each other, so that the distance between the two clamping components 143 gradually decreases, and the cleaning equipment is fixed from both sides.

[0136] Once the climbing or descending of the stairs is complete, the cleaning equipment needs to be moved out of the receiving cavity 112. The driving component 141 of the fixing component rotates in the second rotation direction (the first and second rotation directions are opposite directions). Through the transmission component 142 of the fixing component, the two clamping components 143 are driven to move away from each other, so that the distance between the two clamping components 143 gradually increases, thereby releasing the cleaning equipment and allowing the cleaning equipment to be moved out of the receiving cavity 112.

[0137] The specific structure of the transmission component 142 of the fixed component can be achieved through a gear set.

[0138] In some embodiments, the fixing component 140 includes a first position detection element 144 and a second position detection element 145. The first position detection element 144 is used to detect a fixing signal (such as the clamping element 143 fixing the cleaning device) that indicates the fixing of the cleaning device. Figure 6 As shown), the second position detection element 145 is used to detect the release signal of the clamping element 143 releasing the cleaning equipment (e.g., Figure 5 (As shown).

[0139] In some embodiments, the first position detection element 144 and the second position detection element 145 may be disposed on both sides of the same clamping element 143. The specific position settings of the first position detection element 144, the second position detection element 145, and the clamping element 143 are described using one set as an example.

[0140] The first position detection element 144 and the second position detection element 145 can be respectively disposed on both sides of the same clamping element 143. For example, the first position detection element 144 is disposed on one side of the clamping element 143, and the second position detection element 145 is disposed on the other side of the clamping element 143. If the clamping element 143 triggers the first position detection element 144, it indicates that the clamping element 143 has fixed the cleaning device. When the clamping element 143 triggers the second position detection element 145, it indicates that the clamping element 143 has released the cleaning device.

[0141] In some other embodiments, since there are two clamping members 143, the first position detection member 144 and the second position detection member 145 can also each be two, that is, one first position detection member 144, one second position detection member 145, and one clamping member 143 form a group. The arrangement of the first position detection member 144, the second position detection member 145, and the clamping member 143 in the same group is the same as described above, and will not be repeated here.

[0142] Figure 7 It shows Figure 3 Top view, such as Figure 7 As shown, regarding the activation conditions of the driving member 141 of the fixing component, a trigger 188 can be provided in the receiving cavity 112. After the cleaning device enters the receiving cavity 112, the trigger 188 triggers the position detection element of the cleaning device, and the cleaning device sends a positioning signal to the supporting device 100 indicating that the cleaning device has reached its position. In some other embodiments, a positioning detection switch can also be provided in the receiving cavity 112. After the cleaning device enters the receiving cavity 112, the cleaning device triggers the positioning detection switch, and the supporting device 100 receives the positioning signal indicating that the cleaning device has reached its position. Regardless of the method described above, after the supporting device 100 receives the positioning signal indicating that the cleaning device has reached its position, the driving member 141 of the fixing component is activated. The first driving detection 141 drives the two clamping members 143 to move closer to each other through the transmission element 142 of the fixing component, so that the distance between the two clamping members 143 gradually decreases until the clamping members 143 trigger the first position detection element 144, and the driving member 141 of the fixing component stops. After overcoming the obstacle, the cleaning equipment needs to be moved out of the receiving cavity 112. The drive component 141 of the fixing component starts and drives the two clamping components 143 to move away from each other through the transmission component 142 of the fixing component, so that the distance between the two clamping components 143 gradually increases until the clamping components 143 trigger the second position detection component 145. The drive component 141 of the fixing component stops and the cleaning equipment is moved out of the support device 100.

[0143] Figure 8 It shows Figure 5 A schematic diagram of the installation structure of the fixing component 140. Figure 9 It shows Figure 6A schematic diagram of the installation structure of the fixing component 140. In some embodiments, the fixing component 140 further includes a fixing box 146, in which the driving component 141 and the transmission component 142 of the fixing component are installed. A portion of the clamping component 143 is disposed within the fixing box 146, and the other portion of the clamping component 143 is disposed outside the fixing box 146. Since the fixing component 140 is located at the inlet / outlet 112a, it may clean the upper surface of the obstacle during obstacle crossing (e.g., during stair climbing, it may also clean the stair steps). Dust, hair, and other impurities may enter the main component 110. Therefore, by installing the driving component 141 and the transmission component 142 of the fixing component within the fixing box 146, the fixing box 146 can prevent impurities from affecting the transmission of the driving component 141 and the transmission component 142 of the fixing component, thereby improving the service life of the entire machine.

[0144] In this embodiment, the drive assembly 130 is drivingly connected to the main body assembly 110 and the support assembly 120, driving the main body assembly 110 and the support assembly 120 to move relative to each other. This can be either the drive assembly 130 driving the main body assembly 110 to move relative to the support assembly 120, or the drive assembly 130 driving the support assembly 120 to move relative to the main body assembly 110. When the main body assembly 110 moves relative to the support assembly 120, it can move to higher or lower surfaces. When the support assembly 120 moves relative to the main body assembly 110, it can also move to higher or lower surfaces. The cleaning device is disposed within the receiving cavity 112. The drive assembly 130 driving the relative movement of the main body assembly 110 and the support assembly 120 enables the entire support device 100 to carry the cleaning device to higher or lower surfaces, allowing the cleaning device to clean surfaces at different heights, thereby increasing the cleaning range of the cleaning device.

[0145] In this embodiment, the main body component 110 and the support component 120 can be driven to climb stairs by the same drive component 130. The movement of different structures can be realized by one drive component 130, which can reduce the number of drive structures and make the structure of the entire support device 100 more compact.

[0146] Figure 10 A schematic diagram of the collision component 190 is shown, as follows. Figure 10 As shown, in some embodiments, the supporting device 100 further includes a collision component 190, which is disposed in front of the main body component 110. After receiving an operation command, the supporting device 100 moves to the obstacle and can detect whether the main body component 110 has made contact with the obstacle through the collision component 190. If the main body component 110 makes contact with the obstacle, the drive component 130 is activated to drive the main body component 110 and the support component 120 to climb the stairs.

[0147] The collision assembly 190 includes a base 192, a buffer housing 194, a buffer element 196, and a third position detection element 198. The base 192 is installed on the front side of the main assembly 110. The buffer housing 194 is connected to the base 192 to form a buffer cavity. The buffer element 196 and the third position detection element 198 are disposed in the buffer cavity. The buffer element 196 is fixed on the base 192 and can contact the buffer housing 194. When the main assembly 110 moves, the buffer housing 194 first contacts the side of the step. After the collision, the buffer housing 194 is displaced, causing the buffer element 196 to deform, thereby triggering the third position detection element 198, causing the third position detection element 198 to close. When the third position detection element 198 closes, the main assembly 110 has moved to the step, and then the drive assembly 130 is activated, driving the main assembly 110 and the support assembly 120 to overcome the obstacle.

[0148] Figure 11 A schematic diagram showing the alternating movement of the main body component 110 and the support component 120 is illustrated. Figure 11 As shown, in some embodiments, the drive component 130 drives the main body component 110 and the support component 120 to move alternately.

[0149] The alternating movement of the main component 110 and the support component 120 means that only one of the main component 110 and the support component 120 moves at any given time. For example, in the process of the supporting device 100 moving from the second surface b to the first surface a, the support component 120 first supports itself on the second surface b, the drive component 130 first drives the main component 110 to move from the second surface b to the first surface a, after the main component 110 moves to the first surface a, the main component 110 supports itself on the first surface a again, and the drive component 130 then drives the support component 120 to move to the first surface a.

[0150] During the process of the support device 100 moving from the first surface a to the second surface b, the main body component 110 is first supported on the second surface b, the drive component 130 first drives the support component 120 to move from the second surface b to the first surface a, after the support component 120 moves to the first surface a, the support component 120 is supported on the first surface a again, and the drive component 130 then drives the main body component 120 to move from the second surface b to the first surface a.

[0151] As can be seen from the above process, during the obstacle crossing process, the drive component 130 only drives the movement of one of the main body component 110 and the support component 120, while the other serves as a support during the obstacle crossing process.

[0152] Since the main component 110 and the support component 120 are driven to overcome obstacles by the same drive component 130, in order to ensure the stability of the entire support device 100 during the climbing process, the main component 110 and the support component 120 can move alternately. When the main component 110 is climbing, the support component 120 supports the main component 110, and when the support component 120 is climbing, the main component 110 supports the support component 120. By alternating movement, the stability of the support device 100 during the climbing process can be improved.

[0153] In some embodiments, the drive component 130 moves in the same direction, causing the main body component 110 and the support component 120 to move alternately.

[0154] Since obstacle crossing includes two scenarios: moving from a lower surface to a higher surface and moving from a higher surface to a lower surface, the drive assembly 130 moves in the same direction, causing the main body assembly 110 and the support assembly 120 to move alternately. During the movement from a lower surface to a higher surface, the drive assembly 130 always rotates in a first predetermined direction, causing the main body assembly 110 and the support assembly 120 to move alternately. During the movement from a higher surface to a lower surface, the drive assembly 130 always rotates in a second predetermined direction (the first predetermined direction and the second predetermined direction are opposite), causing the main body assembly 110 and the support assembly 120 to move alternately.

[0155] During the obstacle crossing process of the support device 100, especially when climbing stairs, since the stairs may have multiple steps, the main component 110 and the support component 120 need to move alternately. The drive component 130 moving in the same direction can keep the drive component 130 moving in the same direction, which can reduce the wear of the drive component 130 caused by constant reversal and improve the service life of the drive component 130.

[0156] In some embodiments, the support component 120 is supported on the second surface b, and the drive component 130 is used to drive the main component 110 to move from the second surface b to the first surface a or from the first surface a to the second surface b, wherein the first surface a is higher than the second surface b.

[0157] Because the cleaning equipment is housed within the main component 110, the main component 110 is larger and heavier than the support component 120. Therefore, the support component 120 is needed to support the main component 110 during obstacle crossing. During obstacle crossing by the support device 100, whether moving from a lower surface to a higher surface or from a higher surface to a lower surface, the support component 120 first supports the lower second surface b to support the movement of the main component 110 and improve its stability during obstacle crossing.

[0158] Before moving from the second surface b to the first surface a, both the main body assembly 110 and the support assembly 120 are located on the second surface b, with the support assembly 120 supported on the second surface b. The drive assembly 130 drives the main body assembly 110 to move from the second surface b to the first surface a. Before moving from the first surface a to the second surface b, both the main body assembly 110 and the support assembly 120 are located on the first surface a. The drive assembly 130 first drives the support assembly 120 to move to the second surface b, and after the support assembly 120 is supported on the second surface b, the drive assembly 130 then drives the main body assembly 110 to move from the first surface a to the second surface b.

[0159] In this application, the second surface b and the first surface a are two surfaces at different heights. When the obstacle is a staircase, the second surface b can be the ground, and the first surface a can be the tread of the first step. Alternatively, the second surface b and the first surface a can be the treads of two adjacent steps, with the second surface b being the tread of the lower step and the first surface a being the tread of the higher step. For example, the second surface b can be the tread of the first step, and the first surface a can be the tread of the second step. If the second surface b is the tread of the second step, then the first surface a is the tread of the third step, and so on for other steps. When the obstacle is another object, the second surface b can be the ground, and the first surface a can be the upper surface of the obstacle. In summary, unless otherwise specified, in this application, the first surface a refers to the higher surface, and the second surface b refers to the lower surface.

[0160] During obstacle crossing by the support device 100, because the support device 100 carries the cleaning equipment along with it, the width of the entire device along its direction of travel (first direction) is relatively large. Furthermore, since the width of any obstacle (first surface a) may be smaller than the width of the support device 100 along its direction of travel, and if there is no obstruction in front of first surface a, the support device 100 may tip over from the front of first surface a during its movement from second surface b to first surface a, due to the narrowness of first surface a and the absence of obstruction in front of it. To address this, a first cliff sensor 118 can be installed on the front side of the bottom of the main body assembly 110, and a second cliff sensor 119 can be installed at the middle of the bottom of the main body assembly 110. The combined action of the first cliff sensor 118 and the second cliff sensor 119 can determine whether first surface a is a suspended surface (i.e., the width of first surface a is small and there is no obstruction in front of it).

[0161] The cliff sensor includes a transmitter and a receiver. The transmitter sends a detection signal, and the receiver receives the reflected signal from the obstacle. The distance between the obstacle and the cliff sensor is determined by the time difference between the transmitter sending the detection signal and the receiver receiving the signal. In this application, during the obstacle-crossing process of the support device 100, the main component 110 is positioned behind the step surface, and the distances between each position of the main component and the step surface are already determined. By detecting the distances between the cliff sensor and each step surface, it can be determined whether the cliff sensor is suspended above the step surface. The working principles of all the cliff sensors mentioned in this application are the same as described above. The working principles of the cliff sensors described below can be found here.

[0162] In this application, when the front of the main component 110 is supported on the first surface a, if the supporting device 100 moves to the first surface a, since the first cliff sensor 118 is located at the bottom of the main component 110 and is relatively close to the first surface a, the output of the first cliff sensor can determine whether the front of the main component 110 is supported on the first surface a. When the front of the main component 110 is suspended above the first surface a, if the supporting device moves to the first surface a, and the front of the main component 110 is suspended above the first surface a, the time it takes for the receiving end of the first cliff sensor 118 to receive the reflected signal is much longer than the transmission time of the transmitting end. This indicates that the distance between the first cliff sensor 118 and the obstacle below is very large, meaning that the first cliff sensor 118 is not above the first surface a and is suspended above the first surface a, i.e., the front of the main component 110 is suspended above the first surface a. The principle of the second cliff sensor 119 is the same and will not be described further.

[0163] Specifically, during the process of the supporting device moving from the second surface b to the first surface a, the main body assembly 110 first moves to the first surface a. If the front side and the middle part of the main body assembly 110 are both located on the first surface a, it can continue to move to a higher surface. If the front side of the main body assembly 110 is suspended and the first surface a is a suspended surface, it does not continue to move to a higher surface, and the main body assembly 110 returns from the first surface a to the second surface b.

[0164] In some embodiments, the main body component 110 is supported on the first surface a, and the driving component 130 is used to drive the support component 120 to move from the second surface b to the first surface a or from the first surface a to the second surface b, wherein the first surface a is higher than the second surface b.

[0165] During the ascent, the main component 110 first moves to the first surface a. After the main component 110 reaches the first surface a, the drive component 130 drives the support component 120 from the second surface b back to the first surface a, preparing for the next ascent. During the descent, both the main component 110 and the support component 120 are located on the higher first surface a. The drive component 130 first drives the support component 120 to the second surface b, so that the support component 120 can provide support for the main component 110 on the second surface b during the movement of the main component 110 from the first surface a to the second surface b.

[0166] The above describes how the drive component 130 drives the main body component 110 and the support component 120. The following will describe in detail the specific structure of the drive component 130 and how it alternately drives the main body component 110 and the support component 120.

[0167] Figure 12 This diagram shows the structure of the drive assembly 130 mounted on the main body assembly 110. Figure 13 A schematic diagram of the drive component 130 is shown. Figure 14 A schematic diagram of the drive assembly 130 with part of the mounting box 1322 removed is shown. Figure 12 , Figure 13 and Figure 14 As shown, in some embodiments, the drive assembly 130 includes a first drive member 131, a first transmission member 132, and a first connector 134. The first drive member 131 is driveably connected to the first transmission member 132, the first transmission member 132 is driveably connected to the first connector 134, and the first connector 134 is rotatably connected to the main body assembly 110 and the support assembly 120.

[0168] The first driving component 131 may be a motor. The first connecting component 134 connects the main body assembly 110 and the support assembly 120. The first driving component 131 drives the first connecting component 134 to move through the first transmission component 132. Since the first connecting component 134 is rotatably connected to both the main body assembly 110 and the support assembly 120, it can drive both the main body assembly 110 and the support assembly 120 to move.

[0169] During obstacle crossing, one of the support assembly 120 and the main body assembly 110 is supported on the surface. The following explanation of how the supporting device 100 crosses obstacles will be based on the example of the main body assembly 110 and the support assembly 120 moving between the second surface b and the first surface a. Obstacle crossing includes two scenarios: moving from a lower surface to a higher surface (from the second surface b to the first surface a) and moving from a higher surface to a lower surface (from the first surface a to the second surface b). These two scenarios will be explained separately below.

[0170] Before moving from the second surface b to the first surface a, both the support assembly 120 and the main body assembly 110 are on the second surface b, with the main body assembly 110 supported on the second surface b and the support assembly 120 spaced apart from the second surface b. After starting obstacle crossing, the first drive member 131 rotates in the first preset direction, driving the first transmission member 132 to move. The first transmission member 132 drives the first connecting member 134 to move. The first connecting member 134 rotates around its connection point with the main body assembly 110, causing the support assembly 120 to move forward and downward, making the support assembly 120 contact the second surface b. The first drive member 131 continues to rotate in the first preset direction. Since the support assembly 120 has already contacted the second surface b, it cannot continue to move. Under the reaction force of the second surface b, the first connecting member 134 rotates around its connection point with the support assembly 120, lifting the main body assembly 110 so that it moves forward and upward, enabling it to move from the second surface b to the first surface a.

[0171] Similarly, before moving from the first surface a to the second surface b, both the support component 120 and the main component 110 are located on the first surface a. The main component 110 is supported on the first surface a, and the support component 120 is spaced apart from the first surface a. The first drive member 131 rotates in a second preset direction (the second preset direction is opposite to the first preset direction). Since the main component 110 is in contact with the first surface a, the first connector 134 rotates with the connection point with the main component 110 as the rotation point. The support component 120 rotates backward and downward, allowing the support component 120 to move to the lower second surface b. After the support component 120 is in contact with the second surface b, the first drive member 131 can continue to rotate in the second preset direction. Since the support component 120 is already in contact with the second surface b, the support component 120 cannot continue to move. Under the reaction force of the second surface b, the first connector 134 rotates with the connection point with the support component 120 as the rotation point. The main component 110 is lifted by the first connector 134, causing the main component 110 to move backward and downward, enabling it to move from the first surface a to the second surface b.

[0172] In some embodiments, the first driving member 131 and the first transmission member 132 are mounted on the main body assembly 110. The main body assembly 110 is the main structure of the entire support device 100. Mounting the first driving member 131 and the first transmission member 132 on the main body assembly 110 makes the structure of the entire support device 100 more compact. Since the first transmission member 132 is mounted on the main body assembly 110, the first connecting member 134 may not be connected to the main body assembly 110, but can be directly connected to the first transmission member 132 for transmission.

[0173] In some embodiments, the main body assembly 110 has a mounting cavity 113, in which a first drive member 131 and a first transmission member 132 are mounted.

[0174] The mounting cavity 113 is located above the receiving cavity 112. The mounting cavity 113 can communicate with the receiving cavity 112, or they can be two independent cavities. The first driving member 131 and the first transmission member 132 are disposed within the mounting cavity 113, allowing the main body assembly 110 to protect them. The first connecting member 134 is disposed outside the main body assembly 110, allowing it a greater range of motion and reducing the possibility of interference with other structures during rotation, thus enabling the supporting device 100 to smoothly overcome obstacles.

[0175] As for the structure of the first transmission component 132, such as Figure 13-14 As shown, the first transmission component 132 may include a mounting box 1322 and a first gear set 1324. The mounting box 1322 is connected to the main body component 110. The first gear set 1324 is disposed inside the mounting box 1322. The first driving component 131 is disposed outside the mounting box 1322 and is connected to the first gear set 1324 in a transmission manner.

[0176] The first gear set 1324 may include multiple gears, with adjacent gears meshing with each other. One of the gears is connected to the shaft of the first connector 134. Since the main body assembly 110 also needs to accommodate cleaning equipment, the surface of the obstacle may need to be cleaned during obstacle crossing (if the obstacle is a staircase, the step surface of the staircase needs to be cleaned). Dust, hair, and other impurities may enter the main body assembly 110. Installing the first gear set 1324 in the mounting box 1322 can prevent impurities from affecting the transmission of the first gear set 1324 and can improve the service life of the entire machine.

[0177] In addition, since the first gear set 1324 is installed in the mounting box 1322, the first transmission component 132 can be used as a whole. During assembly, the first transmission component 132 can be assembled directly as a whole, which facilitates the assembly of the first transmission component 132.

[0178] In some embodiments, there are two support components 120 and two first connectors 134. The first transmission component 132 further includes a transmission shaft 1325 and a transmission wheel 1326. The transmission shaft 1325 connects the first gear set 1324 and the transmission wheel 1326. The first gear set 1324 is driven to one of the first connectors 134, and the transmission wheel 1326 is driven to the other first connector 134.

[0179] Two support components 120 are respectively disposed on both sides of the main body component 110. For ease of description, the main body component 110 is defined as having a first direction, a second direction, and a third direction. The first direction is the travel direction of the supporting device 100, the second direction is the direction between the two support components 120, and the third direction is the height direction of the supporting device 100. For ease of description, up, down, left, right, front, and back are defined respectively. In the first direction, one end with the inlet / outlet 112a is front, and the opposite end is rear. In the second direction, one end is left, and the opposite end is right. In the third direction, one end with the receiving cavity 112 is down, and the opposite end is up.

[0180] Two support components 120 are respectively disposed on both sides of the main component 110 along the second direction. The two support components 120 can support the main component 110 from both sides, thereby improving the stability of the main component 110 during obstacle crossing and reducing the possibility of the main component 110 tipping over.

[0181] Since there are two support components 120 located on different sides of the main body component 110, in order to transmit the power of the first drive member 131 to the two support components 1241, a drive shaft 1325 and a drive wheel 1326 can be provided. Through the cooperation of the drive shaft 1325, the drive wheel 1326 and the first gear set 1324, the first drive member 131 drives the two support components 120 at the same time, so that the two support components 120 can move synchronously and improve the stability of the main body component 110.

[0182] In some embodiments, the first connector 134 includes a first link 1342 and a second link 1344, which are respectively connected to the two ends of the support assembly 120.

[0183] The first link 1342 and the second link 1344 can be spaced apart on the support assembly 120 along the first direction, so that when the first drive member 131 drives the support assembly 120 to move, the support assembly 120 can be driven both in front and behind by the first drive member 131, which can improve the stability of the movement of the support assembly 120.

[0184] Since each first connecting member 134 includes a first connecting rod 1342 and a second connecting rod 1344, there are also two transmission shafts 1325 and two transmission wheels 1326. The two transmission wheels 1326 can be connected by a conveyor belt. To improve the belt drive effect, a tensioning shaft 1327 can be provided to press the conveyor belt 1328. Of course, in some other embodiments, the first connecting member 134 may only include the first connecting rod 1342, or the first connecting member 134 may also include a third connecting rod, a fourth connecting rod, etc., and the number of connecting rods is not specifically limited.

[0185] Figure 15 A structural schematic diagram of the support device 100 is shown. (See attached diagram.) Figure 15 As shown, in some embodiments, the main body component 110 also has an inlet 112a communicating with the receiving cavity 112, through which the cleaning equipment can enter and exit the receiving cavity 112, and the support component 120 is disposed on one side of the inlet 112a.

[0186] The support component 120 is located on one side of the inlet / outlet 112a and on one side of the main component 110 along the second direction. Since the cleaning equipment enters and exits the main component 110 along the first direction, setting the support component 120 on one side of the second direction can reduce the interference of the support component 120 on the cleaning equipment.

[0187] In some embodiments, there are two support components 120, and the inlet / outlet 112a is disposed between the two support components 120.

[0188] The inlet / outlet 112a is set on the main component 110, and the two support components 120 can support the main component 110 from both sides, which can improve the stability of the main component 110 during obstacle crossing and reduce the possibility of the main component 110 tipping over.

[0189] Figure 16 A schematic diagram of the support component 120 is shown. Figure 17 The diagram shows a structural schematic of the support assembly 120 with part of the bracket 122 removed. Figure 16 and Figure 17 As shown, in some embodiments, the support assembly 120 includes a bracket 122 and a support arm 124, the bracket 122 being connected to the drive assembly 130, and the support arm 124 being movably connected to the bracket 122.

[0190] The bracket 122 is connected to the drive assembly 130, specifically the bracket 122 is connected to the first transmission component 132, and the support arm 124 is movably connected to the bracket 122. The support arm 124 can move relative to the bracket 122 and can extend out from the bracket 122.

[0191] During the contact process between the support component 120 and the step surface, the step surface may be relatively wide, allowing the entire support component 120 to be positioned on it. However, if the step surface is narrow and the support component 120 is relatively long along the first direction, it may not be able to fully support the step surface. If more than one-third of the support component 120 is not in contact with the step surface, the entire machine may tip over during the obstacle crossing process of the main component 110 due to the instability of the support component 120. To improve the stability of the entire machine during obstacle crossing, a support arm 124 is provided on the bracket 122. If the step surface is narrow, the support arm 124 can extend out of the bracket 122 and support the next lower step surface, thereby improving the stability of the support component.

[0192] Figure 18 The diagram shows the bracket 122, the support arm 124, and the main body assembly 110 located on different surfaces. Specifically, the bracket 122 can be located on the second surface b, and the support arm 124 can be located on the third surface c, wherein the second surface b is higher than the third surface c.

[0193] The support arm 124 is located at the end of the bracket 122 away from the inlet / outlet 112a, that is, the support arm 124 is located at the rear end of the bracket 122. The second surface b is higher than the third surface c. The width of the second surface b is narrow, so the bracket 122 cannot be placed entirely on the second surface b. Therefore, the support arm 124 can extend out of the bracket 122 and support the third surface c. This allows different positions of the support assembly 120 to contact the step surfaces of different heights. Thus, the entire support assembly 120 can support the main assembly 110, improve the stability of the support, and reduce the possibility of the support device 100 tipping over during obstacle crossing.

[0194] In some embodiments, the support arm 124 is supported on the third surface c, the bracket 122 is partially supported on the second surface b, and the drive assembly 130 is used to drive the main body assembly 110 to move from the second surface b to the first surface a or from the first surface a to the second surface b; wherein the second surface b is higher than the third surface c, and the first surface a is higher than the second surface b.

[0195] During obstacle crossing, the support device 100 must overcome obstacles that may be multi-sectioned, especially when climbing stairs, where stairs typically consist of multiple consecutive steps. The support component 120 and the main component 110 must continuously overcome these obstacles. The third surface c can be the ground, the second surface b can be the tread of the first step, and the first surface a can be the tread of the second step. Alternatively, the second surface b, the first surface a, and the third surface c can also be the treads of three consecutive steps. For example, the third surface c can be the tread of the first step, the second surface b can be the tread of the second step, and the first surface a can be the tread of the third step. This principle applies to other types of consecutive steps as well.

[0196] If the step where the second surface b is located is narrow, and the bracket 122 cannot be fully placed on the second surface b, then the support arm 124 extends out from the bracket 122 and supports the third surface c below. The drive component 130 can drive the main component 110 to move from the second surface b to the first surface a (upward obstacle crossing) or from the first surface a to the second surface b (downward obstacle crossing), so that the bracket 122 and the support arm 124 can support the front and rear of the main component 110 respectively, which can improve the stability of the support and reduce the possibility of the support device 100 tipping over during obstacle crossing.

[0197] Of course, in some other embodiments, if the step of the obstacle is wide, the bracket 122 can be placed entirely on the second surface b. In this case, the support arm 124 does not need to extend from the bracket 122. The support component 120 can be supported front and back by the bracket 122 alone, which can also improve the stability of the support for the main component 110. Figure 19 A schematic diagram of the support arm 124 is shown. Figure 20 A schematic diagram of the support arm 124 without the fixing part 126 is shown. Figure 19 and Figure 20 As shown, in some embodiments, the support arm 124 includes a support member 1241, a second drive member 1242, and a second transmission member 1243. The second transmission member 1243 connects the support member 1241 and the second drive member 1242. The second drive member 1242 drives the second transmission member 1243 to move the support member 1241 up and down relative to the bracket 122.

[0198] The second driving member 1242 is disposed inside the bracket 122, and the second driving member 1242 may be a motor. At least a portion of the second transmission member 1243 is disposed inside the bracket 122, and the support member 1241 is disposed outside the bracket 122. If the width of the step surface (second surface b) where the bracket 122 is located is narrow, making it impossible for the entire bracket 122 to be placed on the step surface, or if the position of the support arm 124 is suspended, the second driving member 1242 rotates in a third preset direction, driving the second transmission member 1243 to rotate, causing the support member 1241 to descend relative to the bracket 122, moving the support member 1241 to below the bracket 122, and the support member 1241 contacts the step surface (third surface c) below the bracket 122, so that the bracket 122 is supported on the first surface a.

[0199] If the main component 110 has moved from the second surface b to the first surface a, and it is necessary to move the support component 120 from the second surface b to the first surface a (to overcome the obstacle upwards), or from the second surface b to the third surface c (to overcome the obstacle downwards), it is necessary to move the support component 120 to climb the next step. At this time, the second drive component 1242 can rotate in the fourth preset direction (the fourth preset direction is opposite to the third preset direction), so that the support component 1241 can rise relative to the bracket 122, and the support component 1241 can be retracted, reducing the risk of the support component 120 colliding with the step during the obstacle-crossing process.

[0200] Of course, in some embodiments, if the width of the step surface is very narrow, the support member 1241 and the second transmission member 1243 will not interfere with the step during the obstacle crossing process, and the support member 1241 and the second transmission member 1243 may not be retracted into the bracket 122.

[0201] To determine whether the step surface (second surface b) is narrow and whether the bracket 122 can be fully installed on the second surface b, a third cliff sensor can be installed. In some embodiments, the third cliff sensor can be installed on the bracket 122 or on the main component 110, ensuring that the projection of the third cliff sensor on the bracket 122 coincides with the support member 1241 in the first direction, indicating that the positions of the third cliff sensor and the support member 1241 are approximately the same in the first direction. During the stair climbing process, the output result of the third cliff sensor can be used to determine whether the second surface is narrow (the judgment principle can refer to the working principle of the first cliff sensor 118). If the second surface b is narrow, the support member 1241 is suspended, and the second drive member 1242 can drive the second transmission member 1243 to move, causing the support member 1241 to move down and extend to support the second surface b. If the first surface a is wide, the support member 1241 is not suspended and does not move down or extend.

[0202] In some embodiments, such as Figure 20 As shown, the second transmission component 1243 includes a second gear set 12431, a first sleeve 12432, a first transmission rod 12433, and a connecting rod 12434. The second gear set 12431 is connected to the second driving component 1242 and the first sleeve 12432. The first transmission rod 12433 passes through the first sleeve 12432 and is rotatably connected to the first sleeve 12432. The connecting rod 12434 connects the first transmission rod 12433 and the support component 1241.

[0203] The second driving member 1242 is connected to the second gear set 12431. The outer surface of the first sleeve 12432 is provided with transmission teeth, which mesh with one of the gears in the second gear set 12431. The inner surface of the first sleeve 12432 is provided with internal threads, and the outer surface of the first transmission rod 12433 is provided with external threads. The first sleeve 12432 and the first transmission rod 12433 are threadedly connected. The second driving member 1242 drives the second gear set 12431 to rotate, and the second gear set 12431 drives the first sleeve 12432 to rotate. Since the first sleeve 12432 and the first transmission rod 12433 are threadedly connected, the first transmission rod 12433 moves along the axial direction of the first sleeve 12432, thereby driving the support member 1241 to rise and fall.

[0204] Specifically, the first sleeve 12432 is axially arranged in the third direction, so that the support member 1241 can move up and down in the third direction.

[0205] In some embodiments, such as Figure 19 As shown, the support assembly 120 also includes a fixing part 126, with the fixing member installed on the bracket 122, and the second driving member 1242 and the second transmission member 1243 installed on the fixing part 126.

[0206] The second transmission component 1243 is disposed inside the fixed part 126, the connecting rod 12434 passes through the fixed part 126, and the second driving component 1242 can be disposed outside the fixed part 126. The fixed part 126 is disposed on the lower side of the bracket 122 along the third direction and on the rear side along the first direction, that is, the fixed part 126 is disposed on the rear lower side of the bracket 122.

[0207] In some embodiments, the connecting rod 12434 and the second driving member 1242 are respectively disposed on both sides of the first transmission rod 12433, so that the connecting rod 12434, the first transmission rod 12433 and the second driving member 1242 can be compactly arranged on the rear side of the bracket 122.

[0208] The second driving component 1242 drives the support component 1241 to rise and fall. Since different obstacles have different heights, the rising and falling heights of the support component 1241 may also differ. To achieve precise control of the second driving component 1242, a first detection component 127 and a second detection component 128 can be set to detect the extreme positions of the support component 1241 during rising and falling, as detailed below:

[0209] Figure 21 It shows Figure 17 A magnified view of a section at point I, as shown below. Figure 21As shown, in some embodiments, the support assembly 120 further includes a first detection element 127, which is mounted on the bracket 122. The first detection element 127 is used to detect the positioning signal of the support element 1241 retracted into the bracket 122. The first detection element 127 is disposed inside the bracket 122. The second drive element 1242 drives the first transmission rod 12433 to move the support element 1241 upward through the second transmission element 1243. When the support element 1241 moves to the first detection element 127, the support element 1241 triggers the first detection element 127. The first detection element 127 senses the positioning signal of the support element 1241, indicating that the support element 1241 has been retracted into the bracket 122, and the second drive element 1242 is turned off.

[0210] Figure 22 A bottom view of the support member 1241 is shown. (As shown) Figure 22 As shown, in some embodiments, the support assembly 120 further includes a second detection element 128, which is mounted on the support member 1241 and used to detect the positioning signal of the support member 1241 supporting the step surface. The second detection element 128 can be installed on the surface of the support member 1241 that contacts the step surface. After the support member 1241 moves down and contacts the step surface, the second detection element 128 also contacts the step surface. The step surface triggers the second detection element 128, so the second detection element 128 senses the positioning signal of the step surface. The support member 1241 has contacted the step surface, and the second drive member 1242 can be turned off.

[0211] During the movement of the support component 120 driven by the drive component 130, for example, during the movement from a lower surface (second surface b) to a higher surface (first surface a), if the main component 110 is detected to have contacted the upper step surface (first surface a), the drive component 130 continues to rotate, driving the support component 120 to move upward and forward. The first cliff sensor detects whether the support member 1241 has moved to the first surface a. After the support component 120 has moved to the first surface a, if the support member 1241 is suspended in the air, it indicates that the first surface a is too narrow and cannot support the entire support component 120. The second drive component 1242 can then drive the second transmission component 1243 to move, causing the support member 1241 to move downward and support itself on the second surface b. If the first surface a is too wide and the support member 1241 is not suspended, then the support member 1241 will not move downward. After the support member 1241 is in place, the next action can be performed, which could be directly climbing the next step or cleaning the surface of the step.

[0212] Figure 23 A bottom view of the support device 100 is shown. Figure 24 It shows Figure 23 A magnified view of a section of BB. (e.g.) Figure 23 and 24As shown, in some embodiments, the support device 100 further includes a wheel assembly 150 connected to the main body assembly 110, which is used to guide the movement of the main body assembly 110 and support the main body assembly 110.

[0213] The walking wheel assembly 150 is located on the side of the main body assembly 110 away from the inlet / outlet 112a. That is, the walking wheel assembly 150 is installed on the rear side of the main body assembly 110 to guide its movement and also to support the rear side of the main body assembly 110 during stair climbing. To enable the support device 100 to move forward or backward stably, an auxiliary wheel assembly 160 can also be installed on the front side of the main body assembly 110. The auxiliary wheel assembly 160 and the walking wheel assembly 150 work together to guide the movement of the main body assembly 110.

[0214] Figure 25 It shows Figure 24 A magnified view of a section at point II. Figure 26 A schematic diagram of the auxiliary wheel assembly 160 is shown. Figure 25 and Figure 26 As shown, in some embodiments, the auxiliary wheel assembly 160 includes an auxiliary wheel 161, a connecting shaft 162, a fixing sleeve 163, and an elastic element 164. The fixing sleeve 163 is connected to the main body assembly 110, the connecting shaft 162 passes through the fixing sleeve 163, the auxiliary wheel 161 is connected to the connecting shaft 162, and the elastic element 164 is disposed between the fixing sleeve 163 and the auxiliary wheel 161.

[0215] The auxiliary wheel assembly 160 is located at the front or middle of the main body assembly 110. During obstacle crossing, the auxiliary wheel 161 is the first to contact the step surface. After the auxiliary wheel 161 contacts the step surface, the elastic element 164 is compressed, which can play a certain buffering role on the main body assembly 110, so that the main body assembly 110 can land softly.

[0216] In some embodiments, the main body component 110 is provided with a fourth detection element 165, which triggers the fourth detection element 165 when the auxiliary wheel 161 touches the ground.

[0217] Since an elastic element 164 is provided between the auxiliary wheel 161 and the main component 110, the auxiliary wheel 161 has room to move upward during the contact process with the step surface, so that the auxiliary wheel 161 can contact the fourth detection element 165 provided on the main component 110. If the auxiliary wheel 161 triggers the fourth detection element 165, it means that the front side of the main component 110 has contacted the step surface.

[0218] During obstacle crossing, some steps are narrow, preventing the main component 110 from being fully placed on them. While driving the support component 120, the main component 110 serves as the support structure for the entire support device 100, bearing its weight. If the step is narrow, most of the main component 110 cannot be placed on it. After the support component 120 detaches from the step, its center of gravity becomes unstable, potentially causing it to tip over or fall. To improve the stability of the support component 120 during obstacle crossing, if the step is narrow, the walking wheel component 150 can be lowered, allowing it to support the second surface b, thus enhancing the stability of the main component 110 during obstacle crossing.

[0219] For example, during the ascent, both the main component 110 and the support component 120 are on the second surface b. The drive component 130 first drives the main component 110 to move to the first surface a. Since the width of the first surface a is narrow, the wheel assembly 150 is suspended in the air. The wheel assembly 150 then moves downwards, supporting itself on the second surface b. That is, the front of the entire main component 110 is supported on the first surface a, and the rear is supported by the wheel assembly 150 on the second surface b. The drive component 130 then drives the support component 120 from the second surface b to the first surface a. After the support component 120 has also moved to the first surface a, the entire support device 100 completes the ascent on one step, allowing for the next action, such as cleaning the second surface b or climbing down the next step.

[0220] During the descent, the walking wheel assembly 150 guides the main body assembly 110 to the edge of the first surface a, causing the walking wheel assembly 150 to suspend in the air. The walking wheel assembly 150 then moves down and is supported on the second surface b. The drive assembly 130 then drives the support assembly 120 to move from the first surface a to the second surface b. The walking wheel assembly 150 is then retracted, and the drive assembly 130 drives the main body assembly 110 to move from the first surface a to the second surface b, thus completing the descent of one step.

[0221] Figure 27 A rear view of the support device 100 is shown, as follows. Figure 27 As shown, in order to improve the stability of the support provided by the walking wheel assembly 150, two walking wheel assemblies 150 can be provided, with the two walking wheel assemblies 150 positioned on the left and right sides at the rear of the main body. For ease of description, the walking wheel assembly 150 on the left is the first walking wheel assembly 150a, and the walking wheel assembly 150 on the right is the second walking wheel assembly 150b.

[0222] In some embodiments, the two wheel assemblies 150 move synchronously or asynchronously. Synchronous movement of the two wheel assemblies 150 (first wheel assembly 150a and second wheel assembly 150b) means that the two wheel assemblies 150 (first wheel assembly 150a and second wheel assembly 150b) can move simultaneously. Asynchronous movement means that the two wheel assemblies 150 (first wheel assembly 150a and second wheel assembly 150b) do not move simultaneously; either the first wheel assembly 150a can start moving first, or the second wheel assembly 150b can start moving first.

[0223] In some embodiments, the two walking wheel assemblies 150 move alternately or synchronously along a first direction.

[0224] During the movement of the support device 100 from a higher surface (first surface a) to a lower surface (second surface b), the two traveling wheel assemblies 150 move alternately or synchronously backward along a first direction. During the movement from the lower surface (second surface b) to the higher surface (first surface a), the two traveling wheel assemblies 150 move synchronously forward along the first direction.

[0225] Retreating along the first direction can be either alternating or synchronous. The alternating movement of the two walking wheel assemblies 150 along the first direction means that the first walking wheel assembly 150a and the second walking wheel assembly 150b do not move at the same time. That is, during the retreating process, if the first walking wheel assembly 150a moves backward, the second walking wheel assembly 150b stops, and if the second walking wheel assembly 150b moves backward, the first walking wheel assembly 150a stops.

[0226] Two traveling wheel assemblies 150 (first traveling wheel assembly 150a and second traveling wheel assembly 150b) are located on the rear side of the main body assembly 110. During the process of the support device 100 moving from a higher surface (first surface a) to a lower surface (second surface b), it adopts a backward movement. Taking the support device 100 moving from the first surface a to the second surface b as an example, the first surface a can be the ground of the next floor. If the first traveling wheel assembly 150a and the second traveling wheel assembly 150b move backward synchronously, causing the first traveling wheel assembly 150a and the second traveling wheel assembly 150b to be suspended in the air above the first surface a at the same time, due to the relatively high speed, the first traveling wheel assembly 150a and the second traveling wheel assembly 150b being suspended in the air above the first surface a will cause the main body assembly 110 to tip over or fall.

[0227] When the first traveling wheel assembly 150a and the second traveling wheel assembly 150b move to the edge of the first surface a, they can move backward alternately. Since the first traveling wheel assembly 150a and the second traveling wheel assembly 150b move backward alternately, only one of the first traveling wheel assembly 150a and the second traveling wheel assembly 150b may be completely suspended, while the other can provide some support for the main body assembly 110. This can reduce the possibility of the main body assembly 110 tipping over or tilting during the backward movement and improve the stability of the support device 100 when going downstairs.

[0228] Since there is a certain distance between the walking wheel assembly 150 and the edge of the first surface a, if the alternating backward movement is adopted from the beginning of the descent, the overall speed will be slow and the time to reach the edge of the first surface a will be too long. In order to reduce the obstacle crossing time while ensuring stability, the first walking wheel assembly 150a and the second walking wheel assembly 150b can move synchronously at a higher speed before reaching the edge of the first surface a. After reaching the edge of the first surface a, the first walking wheel assembly 150a and the second walking wheel assembly 150b move backward alternately at a lower speed until one of the two walking wheel assemblies 150a and 150b is suspended in the air.

[0229] Figure 28 A bottom view of the support device 100 is shown, as follows. Figure 28 As shown, to determine whether the first traveling wheel assembly 150a and the second traveling wheel assembly 150b have moved to the edge of the first surface a, a cliff sensor can be installed before and after the first traveling wheel assembly 150a and the second traveling wheel assembly 150b, respectively. Specifically, a fourth cliff sensor 1571 is installed in front of the first traveling wheel assembly 150a, and a fifth cliff sensor 1572 is installed behind the first traveling wheel assembly 150a. A sixth cliff sensor 1581 is installed in front of the second traveling wheel assembly 150b, and a seventh cliff sensor 1582 is installed behind the second traveling wheel assembly 150b. The working principle of the fourth cliff sensor 1571, the fifth cliff sensor 1572, the sixth cliff sensor 1581, and the seventh cliff sensor 1582 is the same as that of the first cliff sensor 118 described above, and will not be repeated here.

[0230] During the process of guiding the main body assembly 110 to move backward, the first and second wheel assemblies 150a and 150b first move synchronously at a relatively high speed. One of the fifth cliff sensor 1572 and the seventh cliff sensor 1582 is suspended in the air. Since the fifth cliff sensor 1572 is located behind the first wheel assembly 150a and the seventh cliff sensor 1582 is located behind the second wheel assembly 150b, the suspension of one of the fifth cliff sensor 1572 and the seventh cliff sensor 1582 indicates that the first and second wheel assemblies 150a and 150b have moved to the edge of the first surface a. At this time, the first and second wheel assemblies 150a and 150b are controlled to move backward alternately. It is not limited whether the first wheel assembly 150a moves first or the second wheel assembly 150b moves first. In some embodiments, during the backward movement of the first traveling wheel assembly 150a and the second traveling wheel assembly 150b, the amount of backward movement in a single instance should not be too large, for example, it can be less than 1 / 10 of a revolution. The amount of backward movement in a single instance for the first traveling wheel assembly 150a and the second traveling wheel assembly 150b can be the same or different, and is not limited thereto. The amount of backward movement in adjacent instances can be the same or different, and is not specifically limited thereto.

[0231] The first walking wheel assembly 150a and the second walking wheel assembly 150b continue to move backward alternately until one of the fourth cliff sensor 1571 and the sixth cliff sensor 1581 is suspended, indicating that the corresponding walking wheel assembly 150 is suspended.

[0232] For example, if the fourth cliff sensor 1571 is already suspended in the air, and the first traveling wheel assembly 150a is located behind the fourth cliff sensor 1571, it means that the first traveling wheel assembly 150a is completely suspended in the air. Similarly, if the sixth cliff sensor 1581 is already suspended in the air, and the second traveling wheel assembly 150b is located behind the sixth cliff sensor 1581, it means that the second traveling wheel assembly 150b is completely suspended in the air.

[0233] If the fourth cliff sensor 1571 is suspended before the sixth cliff sensor 1581, then the first traveling wheel assembly 150a is suspended first. In this case, the first traveling wheel assembly 150a is moved down first until it is supported on the second surface b. Then the second traveling wheel assembly 150b is moved back until the sixth cliff sensor 1581 is suspended. Then the second traveling wheel assembly 150b is moved down so that both the first traveling wheel assembly 150a and the second traveling wheel assembly 150b are supported on the second surface b.

[0234] Similarly, if the sixth cliff sensor 1581 is suspended first, meaning the second traveling wheel assembly 150b is suspended first, then the second traveling wheel assembly 150b is moved down first until it is supported on the second surface b. Then the first traveling wheel assembly 150a is moved back until the fourth cliff sensor 1571 is suspended. Then the first traveling wheel assembly 150a is moved down again, so that both the first traveling wheel assembly 150a and the second traveling wheel assembly 150b are supported on the second surface b.

[0235] After the first traveling wheel assembly 150a and the second traveling wheel assembly 150b are both supported on the second surface b, the drive assembly 130 drives the support assembly 120 to move backward and downward, so that the support assembly 120 is supported on the second surface b (as for how the support assembly 120 specifically supports itself, please refer to the description above, which will not be repeated here). The first traveling wheel assembly 150a and the second traveling wheel assembly 150b are then retracted to the main body assembly 110. The drive assembly 130 then drives the main body assembly 110 to move backward and downward, so that the main body assembly 110 moves to the second surface b.

[0236] During the movement from a higher surface (first surface a) to a lower surface (second surface b), the first traveling wheel assembly 150a and the second traveling wheel assembly 150b move alternately, so that one of them is supported on the first surface a and the other is supported on the second surface b. This can reduce the possibility of tipping or overturning when the first traveling wheel assembly 150a and the second traveling wheel assembly 150b move down at the same time, and improve the stability during the descent.

[0237] During the movement of the support device 100 from the second surface b to the third surface c, there are three specific scenarios: First, the second surface b is very wide, causing the first and second wheel assemblies 150a and 150b to be in complete contact with the second surface b. Second, the second surface b is relatively wide, with some of the suspended portions of the first and second wheel assemblies 150a and 150b in contact with the second surface b. Third, the second surface b is relatively narrow, with both the first and second wheel assemblies 150a and 150b suspended in the air. The movement of the first and second wheel assemblies 150a and 150b under these three widths will be described below.

[0238] In the first width, the fifth cliff sensor 1572 and the seventh cliff sensor 1582 are not suspended and are both located above the second surface b. The fourth cliff sensor 1571 and the sixth cliff sensor 1581 are also not suspended and are both located above the second surface b. At this time, the movement mode of the first traveling wheel assembly 150a and the second traveling wheel assembly 150b is the same as the movement mode from the first surface a to the second surface b described above. The first traveling wheel assembly 150a and the second traveling wheel assembly 150b first move synchronously to the edge of the second surface b at a relatively high speed, and then move alternately. For details, please refer to the above description, which will not be repeated here.

[0239] In the second width configuration, the fifth cliff sensor 1572 and the seventh cliff sensor 1582 are suspended, while the fourth cliff sensor 1571 and the sixth cliff sensor 1581 are not suspended. Since the first traveling wheel assembly 150a and the second traveling wheel assembly 150b are partially suspended, they directly and alternately move backward. The method of alternating backward movement is the same as that of alternating backward movement on the first surface a, as described above, and will not be repeated here.

[0240] In the third width, the fifth cliff sensor 1572 and the seventh cliff sensor 1582 are suspended, as are the fourth cliff sensor 1571 and the sixth cliff sensor 1581. Since both the first traveling wheel assembly 150a and the second traveling wheel assembly 150b are suspended, the first traveling wheel assembly 150a and the second traveling wheel assembly 150b are directly controlled to descend synchronously until they contact the third surface c.

[0241] Two traveling wheel assemblies 150 (first traveling wheel assembly 150a and second traveling wheel assembly 150b) move synchronously in a second direction. The movement of the two traveling wheel assemblies 150 in the second direction is mainly used for cleaning the step surface, and the synchronous movement of the two traveling wheel assemblies 150 (first traveling wheel assembly 150a and second traveling wheel assembly 150b) can improve cleaning efficiency.

[0242] In the second direction, the movement can be to the left or to the right.

[0243] In some embodiments, the two wheel assemblies 150 descend synchronously or asynchronously in a third direction. During the movement from a lower surface to a higher surface, since the support assembly 120 mainly supports the main body assembly 110, the two wheel assemblies 150 can descend or ascend synchronously, thereby reducing obstacle-crossing time.

[0244] During the movement from a higher surface to a lower surface, since the support component 120 moves first, the main body component 110 supports the support component 120 first. To prevent the main body from tipping over, the first traveling wheel component 150a and the second traveling wheel component 150b retreat in the manner described above. After the first traveling wheel component 150a and the second traveling wheel component 150b retreat alternately until one of them is suspended, the suspended traveling wheel component 150 descends first and supports the step surface below. Then, the other traveling wheel component 150 descends. This can reduce the possibility of tipping or tipping over when the first traveling wheel component 150a and the second traveling wheel component 150b move down at the same time, and improve the stability during the descent.

[0245] The movement of the two walking wheel assemblies 150 (first walking wheel assembly 150a and second walking wheel assembly 150b) has been described above. The following section will describe the specific structure of the two walking wheel assemblies 150 (first walking wheel assembly 150a and second walking wheel assembly 150b), how they rise and fall, how they guide the main body's movement, and how they change direction. It should be noted that, unless otherwise specified, the structures of the first walking wheel assembly 150a and the second walking wheel assembly 150b are identical, and both are referred to as walking wheel assembly 150 below.

[0246] Figure 29 A schematic diagram of the structure of the walking wheel assembly 150 is shown. In some embodiments, the walking wheel assembly 150 includes a walking wheel 151, a third drive member 152, and a third transmission member 153. The third drive member 152 is mounted on the main body assembly 110 and is connected to the third transmission member 153. The walking wheel 151 is connected to the third transmission member 153. The third drive member 152 is used to drive the third transmission member 153 to move the walking wheel 151 up and down in a third direction.

[0247] The traveling wheel 151 is located at one end of the third transmission component 153. The third drive component 152 drives the traveling wheel 151 to move up and down in the third direction through the third transmission component 153, so that the traveling wheel 151 can retract or move down relative to the main component 110, so that the traveling wheel 151 can both guide the movement of the main component 110 and support the main component 110.

[0248] Figure 30 An exploded view of the first exploded perspective of the walking wheel assembly 150 is shown. Figure 31 An exploded view of the walking wheel assembly 150 from a second exploded perspective is shown. Figure 30 and Figure 31As shown, in some embodiments, the third transmission member 153 includes a third gear set 1531, a second sleeve 1532, and a second transmission rod 1533. The third gear set 1531 may include at least one gear. The third driving member 152 is connected to the third gear set 1531. The outer surface of the second sleeve 1532 is provided with transmission teeth, which mesh with one of the gears in the third gear set 1531. The inner surface of the second sleeve 1532 is provided with an internal thread, and the outer surface of the second transmission rod 1533 is provided with an external thread. The second sleeve 1532 and the second transmission rod 1533 are threadedly connected. The third driving member 152 drives the third gear set 1531 to rotate, and the third gear set 1531 drives the second sleeve 1532 to rotate. Since the second sleeve 1532 and the second transmission rod 1533 are threadedly connected, the second transmission rod 1533 moves along the axial direction of the second sleeve 1532, thereby driving the support member 1241 to rise and fall.

[0249] Specifically, the second sleeve 1532 is axially arranged in the third direction, so that the traveling wheel 151 can move up and down in the third direction.

[0250] In some embodiments, the third transmission member 153 further includes a fixed cylinder 1534, which is sleeved on the second transmission rod 1533 to increase the stability of the second transmission rod 1533 in moving up and down.

[0251] In some embodiments, the traveling wheel 151 includes an end cap 1512 and a main wheel 1514. The end cap 1512 covers a portion of the main wheel 1514. The main wheel 1514 is mounted on the end cap 1512 and is rotatably connected to the end cap 1512. The third transmission member 153 (second transmission rod 1533) is connected to the traveling wheel 151, meaning that the third transmission member 153 (second transmission rod 1533) is connected to the end cap 1512.

[0252] In some embodiments, the walking wheel assembly 150 is used to guide the main body assembly 110 to move along a first direction or a second direction, wherein the first direction and the second direction are set at an angle.

[0253] When the support device 100 is located on the step surface of the staircase, the step surface is generally rectangular, having a length direction (the direction of the long side) and a width direction (the direction of the wide side). The first direction is the width direction of the step surface, and the second direction is the length direction of the step surface. The traveling wheel assembly 150 can guide the main body assembly 110 to move in the width direction of the step surface or guide the main body assembly 110 to move in the length direction of the step surface, depending on the different working conditions of the main body assembly 110.

[0254] During the process of the main component 110 going up and down the stairs, the main component 110 moves in the first direction, that is, along the width direction of the step surface. Since the main component 110 carries cleaning equipment, it can clean the step surface when it moves to the step surface. Since the length of the step surface is larger than that of the support device 100, the support device 100 needs to move in the length direction of the step surface in order to clean the step surface. Therefore, the main component 110 carrying the cleaning equipment can be guided by the walking wheel assembly 150 to move in the length direction of the step surface to clean the step surface.

[0255] Since the traveling wheel 151 moves in the first direction when going up or down stairs, in order to enable the traveling wheel 151 to move in the second direction, it is necessary to switch the traveling direction of the traveling wheel 151 from the first direction to the second direction, or from the second direction to the first direction. The specific switching structure is as follows:

[0256] like Figure 30 and Figure 31 As shown, in some embodiments, the walking wheel assembly 150 further includes a fourth drive member 154 and a fourth transmission member 155. The fourth drive member 154 drives the walking wheel 151 to switch its direction of movement from a first direction to a second direction, or from a second direction to a first direction, through the fourth transmission member 155.

[0257] In some embodiments, the fourth transmission member 155 includes a fourth gear set 1552 and a fixed sleeve 1554. The fourth gear set 1552 may include at least one gear. The fourth driving member 154 is pulsatorically connected to the fourth gear set 1552. The outer surface of the fixed sleeve 1554 is provided with transmission teeth, and the fourth gear set 1552 meshes with the transmission teeth. The fourth driving member 154 drives the fourth gear set 1552 to rotate, thereby causing the fixed sleeve 1554 to rotate, which in turn drives the traveling wheel 151 to rotate, switching between a first direction and a second direction.

[0258] The fixing sleeve 1554 secures the traveling wheel 151. The fixing sleeve 1554 can be fixedly connected to the end cap 1512. Since the second transmission rod 1533 is connected to the end cap 1512, the fixing sleeve 1554 can be fixedly connected to the second transmission rod 1533, thereby securing the traveling wheel 151. Specifically, the second transmission rod 1533 can pass through the fixing sleeve 1554, and the fixing sleeve 1554 is provided with a stop part 15541 (e.g., ...). Figure 32 and Figure 33 As shown, Figure 32 for Figure 31 A magnified view of a section at point III. Figure 33 (See the structural diagram of the fixing sleeve 1554). It can be engaged with the external thread of the second transmission rod 1533, so that the fixing sleeve 1554 can fix the second transmission rod 1533.

[0259] Since the second transmission rod 1533 passes through the fixed sleeve 1554, and the second transmission rod 1533 needs to drive the traveling wheel 151 to move up and down, that is, the second transmission rod 1533 needs to move up and down relative to the fixed sleeve 1554. In order to avoid interference between the external thread of the second transmission rod 1533 and the stop part 15541, the external thread of the second transmission rod 1533 can be provided with a groove 15331 along the axial direction of the second transmission rod 1533. That is, the external thread of the second transmission rod 1533 is interrupted in the middle and is not a continuous external thread. The stop part 15541 is provided in the groove 15331, so that the second transmission rod 1533 can still move up and down relative to the fixed sleeve 1554. When the fourth drive member 154 drives the walking wheel 151 to turn, the fourth drive member 154 drives the fixed sleeve 1554 to rotate through the fourth gear set 1552. The fixed sleeve 1554 drives the second transmission rod 1533 to rotate. Since the second transmission rod 1533 is threadedly connected to the second sleeve 1532, the second sleeve 1532 will not rotate, that is, the third gear set 1531 will not rotate and will not be affected. This allows the drive of the third drive member 152 and the fourth drive member 154 to be independent of each other and not affect each other.

[0260] If it is necessary to switch the direction of travel of the walking wheel 151, the fourth drive component 154 is activated, the fourth drive component 154 drives the fourth gear set 1552 to rotate, the fourth gear set 1552 drives the fixed sleeve 1554 to rotate, the fixed sleeve 1554 drives the second transmission rod 1533 to rotate, so that the second transmission component 1243 drives the end cover 1512 to rotate, so that the main wheel 1514 rotates from the first direction to the second direction, or from the second direction to the first direction.

[0261] like Figure 29 As shown, in some embodiments, the walking wheel assembly 150 further includes a fifth drive member 156, which is connected to the shaft of the walking wheel 151 and is used to drive the walking wheel 151 to rotate. The fifth drive member 156 is fixed on the end cap 1512 and connected to the shaft of the main wheel 1514, and is used to drive the main wheel 1514 to rotate, thereby guiding the main body assembly 110 to move.

[0262] Regarding the layout of each drive and transmission in the walking wheel assembly 150, the fifth drive component 156 is located at the bottom, the fourth drive component 154 is located above the fifth drive component 156 and below the fourth gear set 1552, the fourth gear set 1552 is arranged side by side with the fixed sleeve 1554, the fourth gear set 1552 is located below the third gear set 1531, the fixed sleeve 1554 is located below the second sleeve 1532 and is coaxially arranged, and the third drive component 152 is located above the third gear set 1531. That is, from top to bottom, they are: third drive component 152, third transmission component 153, fourth transmission component 155, fourth drive component 154, and fifth drive component 156.

[0263] In summary, as Figure 29 , Figure 30 and Figure 31 As shown, the walking wheel assembly 150 has three movements: the third drive member 152 drives the walking wheel 151 to move up and down; the fourth drive member 154 drives the walking wheel 151 to switch directions (switching between the first direction and the second direction); and the fifth drive member 156 drives the walking wheel 151 to rotate, guiding the main body assembly 110 to move. The movement of the entire walking wheel assembly 150 is as follows:

[0264] The third drive component 152, the third transmission component 153, the fourth drive component 154, and the fourth transmission component 155 are mounted on the main body assembly 110, and the fifth drive component 156 is mounted on the end cover 1512. The fifth drive component 156 and the traveling wheel 151 (end cover 1512 and main wheel 1514) form a whole. The third drive component 152 drives the fifth drive component 156 and the traveling wheel 151 to move up and down as a whole through the third transmission component 153. The fourth drive component 154 and the fourth transmission component 155 drive the fifth drive component 156 and the traveling wheel 151 to rotate as a whole through the second transmission rod 1533.

[0265] As can be seen from the above, the fourth driving member 154 and the fourth transmission member 155 are provided so that the supporting device 100 can move in the second direction, thereby cleaning the step surface. The process of cleaning the step surface will be described below in conjunction with the specific structure of the cleaning component 170.

[0266] Figure 34 A schematic diagram of the cleaning component 170 is shown. Figure 35 A schematic diagram of the structure when the cleaning component 170 avoids obstacles is shown. Figure 34 and Figure 35 As shown, in some embodiments, the support device 100 further includes a cleaning component 170, which is mounted on the support component 120 and is used to clean the step surface during the movement of the main component 110 in the second direction.

[0267] The cleaning component 170 is installed on the support component 120, so the cleaning component 170 is located on one side of the main component 110. Since there are two support components 120, there are also two cleaning components 170. One cleaning component 170 is connected to one support component 120, so that cleaning components 170 are provided on both sides of the main component 110.

[0268] The cleaning component 170 is arranged along the first direction, so that the cleaning component 170 can span across the step surface along the width direction of the step surface. During the movement of the main body along the second direction guided by the walking wheel component 150, the cleaning component 170 can cover the step surface as much as possible, thereby improving the cleaning effect of the step surface.

[0269] In some embodiments, the cleaning component 170 includes a cleaning element 172 and a second connector 174. One end of the second connector 174 is rotatably connected to the support component 120, and the other end is connected to the cleaning element 172, so that the cleaning element 172 can move in a first direction.

[0270] Since the cleaning component 170 is mounted on the support component 120, one end of the second connector 174 is installed inside the bracket 122, and at least a portion of the cleaning component 172 extends outside the bracket 122, the cleaning component 172 can clean the step surface. The cleaning component 172 is positioned below the bracket 122 and can protrude from below the bracket 122, so that when the cleaning component 172 contacts the step surface, the bracket 122 separates from the step surface. This ensures that only the cleaning component 172 contacts the step surface during cleaning, reducing resistance and improving cleaning efficiency.

[0271] The second connector 174 is rotatably connected to the support assembly 120. Since the support assembly 120 is positioned along the first direction, there is a possibility that the front of the support assembly 120 may collide with the side of the step during the ascent. The second connector 174 is rotatably connected to the support assembly 120. If the support assembly 120 collides with the side of the step, the second connector 174 can rotate backward, causing the cleaning component 172 to avoid the side of the step (e.g., ...). Figure 35 (As shown), to reduce the risk of collision damage to cleaning component 172.

[0272] In some embodiments, the second connector 174 includes a connecting portion 1742 and an abutting portion 1744 that are connected to each other. The cleaning member 172 is connected to the abutting portion 1744, the connecting portion 1742 is rotatably connected to the support assembly 120, and the abutting portion 1744 protrudes from the support assembly 120.

[0273] Among them, such as Figure 34 and Figure 35 As shown, the bracket 122 of the support assembly 120 has a clearance groove 1221 on the side near the inlet / outlet 112a. That is, a clearance groove 1221 is provided on the front side of the bracket 122. During the cleaning of the step surface, the bracket 122 may guide the cleaning assembly 170 to move back and forth, so that the cleaning assembly 170 can clean the inner part of the step surface as much as possible. The clearance groove 1221 on the bracket 122 can reduce the possibility of the bracket 122 colliding with the step, reduce the risk of the bracket 122 being damaged, and improve the service life of the entire support assembly 120.

[0274] Since the cleaning component 172 is connected to the abutment portion 1744, part of the cleaning component 172 also extends out of the bracket 122 and is partially disposed within the clearance groove 1221. The connecting portion 1742 is generally elongated, and the abutment portion 1744 protrudes from the support assembly 120 along the first direction and also protrudes from the connecting portion 1742 along the first direction. During the process of going upstairs or cleaning the step surface, the support assembly 120 may move back and forth, and there is a possibility of collision with the side of the step. If the abutment portion 1744 contacts the side of the step, it will swing backwards towards the bracket 122, allowing the cleaning component 170 to move backwards towards the bracket 122. This reduces the risk of the cleaning component 172 directly contacting the side of the step surface and causing damage to the cleaning component 172.

[0275] In some embodiments, the cleaning component 170 further includes a second elastic member 176, which connects the second connector 174 and the bracket 122 of the support component 120. If the second connector 174 swings backward under the abutment of the step, the second connector 174 can be reset under the restoring force of the second elastic member 176 after the abutment portion 1744 separates from the step surface, thereby driving the cleaning component 172 to reset.

[0276] In some embodiments, the cleaning assembly 170 further includes an eighth drive member 178, which is connected to a second connector 174 for guiding the second connector 174 to swing away from the inlet / outlet 112a, so that the cleaning assembly 172 moves away from the inlet / outlet 112a.

[0277] Since the abutment portion 1744 protrudes from the support assembly 120, interference between the abutment portion 1744 and the step may occur during the movement from the higher surface (first surface a) to the lower surface (second surface b). To avoid interference between the cleaning component 172 and the step, the second connecting rod 12434 can be guided by the eighth drive member 178 to move away from the inlet / outlet 112a, so that the abutment portion 1744 is retracted into the bracket 122, and the cleaning component 172 does not protrude from the bracket 122 in the first direction, thereby reducing interference with the step during the descent. After the support assembly 120 has descended, the eighth drive member 178 can be stopped, and the second connecting rod 12434 is reset under the action of the second elastic member 176.

[0278] Among them, such as Figures 34-35 As shown, the eighth drive member 178 may include a dial 1782 and a cable 1784. The dial 1782 is mounted on the bracket 122, and the cable 1784 connects the dial 1782 and the bracket 122. The dial 1782 can be tightly wound around the cable 1784, so that the cable 1784 pulls the second connector 174 to rotate backward.

[0279] like Figures 34-35As shown, in some embodiments, the cleaning component 170 further includes a limiting member 179, which is connected to the support component 120 to form a limiting groove 1791. A second connector 174 passes through the limiting groove 1791 to limit the swing range of the second connector 174.

[0280] The limiting member 179 is disposed inside the bracket 122, and the limiting groove 1791 is a through groove that connects the upper and lower parts. The second connecting member 174 passes through the limiting groove 1791. During the rotation of the second connecting member 174 relative to the bracket 122, the limiting groove 1791 can limit the swing amplitude of the second connecting member 174, preventing the second connecting member 174 from swinging too far backward, and also preventing the second connecting member 174 from moving too far forward.

[0281] like Figures 34-35 As shown, in some embodiments, the cleaning component 172 includes a cleaning part 1722 and a mounting part 1724. The mounting part 1724 is connected to the second connector 174. The mounting part 1724 has a guide groove 1726 disposed along a first direction. The support component 120 is provided with a guide part 1223, which is disposed in the guide groove 1726.

[0282] Guided by the second connector 174, the cleaning component 172 moves along the first direction. The abutment portion 1744 is relatively small, and the cleaning component 172 is relatively long. In order to ensure that the cleaning component 172 can move stably along the first direction, a guide portion 1223 is provided on the support assembly 120 (bracket 122), and a guide groove 1726 is provided on the mounting portion 1724. The guide portion 1223 is disposed in the guide groove 1726 to guide the cleaning component 172 to move in the first direction.

[0283] In some embodiments, the cleaning part 1722 can be a scraper with a certain degree of elasticity. Under the action of the support component 120, the cleaning part 1722 contacts and presses against the step surface. The traveling wheel assembly 150 guides the main body assembly 110 to move in a second direction, thereby scraping away dust from the step surface. In other embodiments, the cleaning part 1722 can be a brush, which can clean the step surface.

[0284] The cleaning component 172 may also include a third elastic element, through which the mounting part 1724 and the cleaning part 1722 can be connected.

[0285] Figure 36The installation positions of two cleaning components 170 and the mounting support component 120 are shown. Cleaning components 170 are provided on both support components 120, that is, on both the left and right sides of the main component 110. Since the support device 100 has a certain width in the second direction (the length direction of the step surface), cleaning the step surface using only one side of the cleaning component 170 would create blind spots. Furthermore, since both support components 120 have cleaning components 170, if both components are in contact with the step surface during left-right reciprocating motion, dust would be scraped from side to side, resulting in ineffective cleaning. In this exemplary embodiment, the two cleaning components 170 can clean the step surface along a predetermined direction. For ease of description, the left support component 120 is referred to as the first support component 120a, the right support component 120 as the second support component 120b, the left cleaning component 170 as the first cleaning component 170a, and the right cleaning component 170 as the second cleaning component 170b.

[0286] A side detection element 125 is provided on the side of the support component 120 away from the main component 110. Figure 34 The side detection element 125 of the first support component 120a is located on the left side, and the side detection element 125 of the second support component 120b is located on the right side.

[0287] During obstacle crossing, especially when climbing stairs, the support device typically has barriers on both sides of the staircase. These barriers can be handrails on both sides, or one side with a handrail and the other with a wall. For ease of description, they are all defined as barriers on the left and right sides of the staircase. Two side detection elements 125 are used to detect the extreme positions of the support device 100 on the left and right sides. After the support device 100 moves to the extreme position on the left, the left barrier triggers the side detection element 125 of the first support component 120a. Similarly, after the support device 100 moves to the extreme position on the right, the right barrier triggers the side detection element 125 of the second support component 120b.

[0288] Before cleaning the step surface, the traveling wheel assembly 150 rotates to the second direction, guiding the main body assembly 110 and the support assembly 120 to move to the far right of the step surface. The drive assembly 130 drives the first support assembly 120a and the second support assembly 120b to move forward and downward, causing the first cleaning assembly 170a and the second cleaning assembly 170b to contact the step surface. After the first cleaning assembly 170a and the second cleaning assembly 170b contact, the traveling wheel assembly 150 guides the main body and the two support assemblies 120 to move to the left, and the cleaning assembly 170 scrapes dust to the left side of the step surface. When the side detection element 125 of the first support component 120a is triggered, it indicates that the support device 100 has moved to the left limit position. The drive component 130 drives the support component 120 to move upward until the first Hall sensor detects the position signal of the support component 120 (since the first support component 120a and the second support component 120b move synchronously, the support component 120 can be either the first support component 120a or the second support component 120b). The first Hall sensor is installed on the main body component 110 and detects the high position of the support component 120. The walking wheel component 150 moves to the right so that the support device 100 is located at the rightmost position (when the side detection element 125 of the second support component 120b is triggered, it indicates that the support device 100 has moved to the rightmost position). The above process is repeated. The number of repetitions can be 2 to 3 times, etc., and there is no specific limit, until the set number of times is reached and the scraping is completed.

[0289] It should be noted that:

[0290] During the process of the support device 100 carrying the cleaning equipment over obstacles, the step surface can be cleaned while moving from a lower surface to a higher surface or vice versa. Since the cleaning equipment itself has a cleaning function, it can be activated after the cleaning component 170 has finished cleaning, or while the cleaning component 170 is cleaning, to clean the step surface. Specifically:

[0291] Figure 37 A schematic diagram of the rotating assembly 180 is shown, as follows: Figure 37 As shown, in some embodiments, the supporting device 100 further includes a rotating assembly 180, which is connected to the main body assembly 110. When the main body assembly 110 is provided with a receiving cavity 112, the rotating assembly 180 is disposed in the receiving cavity 112 and is used to support the cleaning equipment. The rotating assembly 180 is used to drive the cleaning equipment to rotate relative to the main body assembly 110.

[0292] After the cleaning equipment enters the receiving cavity 112, its front-to-back direction is consistent with that of the supporting device 100. That is, the mop of the cleaning equipment is located behind the supporting device 100, and the side brush is located on the left and / or right side in front of the supporting device 100. In other words, the cleaning equipment's travel direction is along the first direction, and its cleaning direction is also along the first direction. When cleaning the step surface, the traveling wheel assembly 150 moves along the second direction. To ensure that the cleaning equipment can also clean the step surface, its cleaning direction can also be along the second direction. Therefore, a rotating assembly 180 can be provided. By rotating the cleaning equipment through the rotating assembly 180, the cleaning direction of the cleaning equipment is rotated to the second direction, thereby cleaning the step surface.

[0293] In some embodiments, the rotating assembly 180 includes a seventh drive member 182 and a rotating member 184, the rotating member 184 carrying the cleaning device, and the seventh drive member 182 driving the rotating member 184 to rotate so that the side brush of the cleaning device is located outside the main body assembly 110.

[0294] The seventh drive component 182 is located on the side of the main body component 110 away from the inlet / outlet 112a, and the rotating component 184 is located below the cleaning device. When the cleaning device enters the receiving cavity 112, the cleaning device is mounted on the rotating component 184. If it is necessary to clean the step surface, the seventh drive component 182 drives the rotating component 184 to rotate, so that the cleaning device follows the rotating component 184 to rotate, allowing the side brush of the cleaning device to rotate out of the main body component 110, thereby cleaning the side of the step and the corner where the step surface connects, improving the cleaning effect.

[0295] In some embodiments, the rotating assembly 180 further includes a first protrusion 185 and a second protrusion 186, the first protrusion 185 and the second protrusion 186 being spaced apart from the rotating member 184, and the main body assembly 110 being provided with a third detection member 187, the third detection member 187 being used to detect the positioning signal of the first protrusion 185 and the positioning signal of the second protrusion 186, the positioning signal of the first protrusion 185 indicating that the traveling direction of the cleaning device has moved to a first direction, and the positioning signal of the second protrusion 186 indicating that the traveling direction of the cleaning device has moved to a second direction.

[0296] The first protrusion 185 and the second protrusion 186 are disposed on the rotating member 184. When the cleaning equipment needs to clean the step surface, the seventh drive member 182 is activated, driving the rotating member 184 to rotate. Since the first protrusion 185 and the second protrusion 186 are disposed on the rotating member 184, the first protrusion 185 and the second protrusion 186 also rotate with the rotating member 184. When the second protrusion 186 moves to the third detection member 187, the third detection member 187 detects the arrival signal of the second protrusion 186, indicating that the travel direction of the cleaning equipment has moved to the second direction, and the side brush has rotated outside the main body assembly 110. The seventh drive member 182 is then deactivated, and the cleaning equipment can begin cleaning the step surface. After the cleaning equipment has finished cleaning, the seventh drive member 182 drives the rotating member 184 to reverse. After the third detection member 187 detects the arrival signal of the first protrusion 185, it indicates that the travel direction of the cleaning equipment has moved to the first direction, and the seventh drive member 182 is deactivated.

[0297] In some embodiments, the rotating member 184 may also be provided with a side brush guide 189 for guiding the side brush of the cleaning device to the step surface for easy cleaning of the step surface.

[0298] The following section will detail the obstacle-crossing and cleaning process of the support device 100, based on the aforementioned structure:

[0299] Moving from a lower surface to a higher surface: For ease of description, we define three surfaces at different heights: a first surface, b a second surface, and c a third surface. The second surface b is higher than the third surface c, and the first surface a is higher than the second surface b. We will describe the specific process of the support device 100 carrying the cleaning equipment from a lower surface to a higher surface in conjunction with the first surface a, the second surface b, and the third surface c. The third surface c can be the ground of a lower floor, and the second surface b and the first surface a can be two surfaces at different heights on an obstacle.

[0300] 1. The third surface c climbs to the second surface b.

[0301] like Figure 38As shown, the main component 110 moves upward: When the supporting device receives the operation command, the walking wheel assembly 150 guides the main component 110 to move towards the obstacle. When the collision component 190 set in front of the main component 110 contacts the side of the obstacle, it begins to climb. The first driving member 131 rotates forward to drive the first transmission member 132 to move. The first transmission member 132 drives the first connecting member 134 to move. The first connecting member 134 rotates with the connection point with the main component 110 as the rotation point, driving the support component 120 to move forward and downward, so that the support component 120 contacts the third surface c. The first driving member 131 continues to rotate forward. Since the support component 120 has already contacted the third surface c, the support component 120 cannot continue to move. The first connecting member 134 rotates with the connection point with the support component 120 as the rotation point. The main component 110 is lifted by the first connecting member 134, so that the main component 110 moves forward and upward, moving to the second surface b.

[0302] like Figure 39 As shown, the walking wheel assembly 150 moves downward: after the main body assembly 110 moves to the second surface b, the walking wheel assembly 150 moves downward and is supported on the third surface c.

[0303] like Figure 40 As shown, the support component 120 moves upward: the first driving member 131 rotates forward and the first connecting member 134 drives the support component 120 to move upward and forward, so that the support component 120 moves to the second surface b.

[0304] Cleaning: The walking wheel assembly 150 rotates to the second direction, guiding the main body assembly 110 and the support assembly 120 to move to the far right of the step surface. The drive assembly 130 drives the first support assembly 120a and the second support assembly 120b to move forward and downward, causing the first cleaning assembly 170a and the second cleaning assembly 170b to contact the step surface. After the first cleaning assembly 170a and the second cleaning assembly 170b contact, the walking wheel assembly 150 guides the main body and the two support assemblies 120 to move to the left, and the cleaning assembly 170 scrapes dust to the left side of the step surface. When the side detection element 125 of the first support component 120a is triggered, it indicates that the support device 100 has moved to the left limit position. The drive component 130 drives the support component 120 to move upward, and the walking wheel component 150 moves to the right so that the support device 100 is located at the rightmost position (when the side detection element 125 of the second support component 120b is triggered, it indicates that the support device 100 has moved to the rightmost position). The above process is repeated, and the number of repetitions can be 2, 3, etc., without specific limitation, until the set number of times is reached and the scraping is completed.

[0305] After the cleaning component 170 completes the dust removal, the seventh drive component 182 drives the rotating component 184 to rotate, causing the cleaning device to rotate along with the rotating component 184. This allows the side brush of the cleaning device to rotate out of the main body component 110. The walking wheel assembly 150 guides the main body to move to the left, and the cleaning device begins the cleaning mode until cleaning is complete. After cleaning is completed, the walking wheel assembly 150 turns to the first direction, and the cleaning device resets.

[0306] like Figure 41 As shown, the walking wheel assembly 150 is recycled: the walking wheel assembly 150 is recycled to the main body assembly 110.

[0307] II. The specific process of moving from the second surface b to the first surface a is the same as that of moving from the third surface c to the second surface b, except that the following two processes are added before the main component 110 moves:

[0308] like Figure 42 As shown, the support arm 124 moves down: if the second surface b is narrower, the support arm 124 moves down until the support part contacts the third surface c.

[0309] like Figure 43 As shown, the walking wheel assembly 150 is recycled: the walking wheel assembly 150 is recycled to the main body assembly 110.

[0310] In addition, obstacles may have higher surfaces, and the process of overcoming obstacles is the same as the process of moving from the second surface b to the first surface a.

[0311] Moving from a lower surface to a higher surface: For ease of description, we define a first surface a, a second surface b, and a third surface c, where the first surface a is higher than the second surface b, and the second surface b is higher than the third surface c. The specific process of the supporting device 100 carrying the cleaning equipment moving from a higher surface to a lower surface is described using the first surface a, the second surface b, and the third surface c as examples. Here, the first surface a can be the ground of a high-rise building, and the second surface b and the third surface c can be two surfaces at different heights on an obstacle.

[0312] 1. From the first surface a down to the second surface b.

[0313] like Figure 44 As shown, the walking wheel assembly 150 moves backward: the first walking wheel assembly 150a and the second walking wheel assembly 150b first move synchronously at a relatively high speed. When the detection value of one of the fifth cliff sensor 1572 and the seventh cliff sensor 1582 is 0, the first walking wheel assembly 150a and the second walking wheel assembly 150b move backward alternately until one of them is suspended in the air. Figure 45 As shown, if the first traveling wheel assembly 150a is initially suspended in the air, then the first traveling wheel assembly 150a is first lowered, as follows: Figure 46As shown, after the first traveling wheel assembly 150a is supported on the second surface b, the second traveling wheel assembly 150b moves backward, becoming suspended in the air. Then, the second traveling wheel assembly 150b moves downward so that both the first traveling wheel assembly 150a and the second traveling wheel assembly 150b are supported on the second surface b. The process of the second traveling wheel assembly 150b being suspended in the air is the same as described above and will not be repeated.

[0314] like Figure 47 As shown, the support component 120 moves downward: after the first wheel assembly 150a and the second wheel assembly 150b are both supported on the second surface b, the drive component 130 drives the support component 120 to move backward and downward, so that the support component 120 is supported on the second surface b.

[0315] After the support component 120 is moved down, there are two scenarios, which are described below:

[0316] In the first scenario, if the supporting components can be fully supported on the second surface b, the main body component 110 moves directly downwards: the first wheel assembly 150a and the second wheel assembly 150b are brought to the main body component 110, as shown below. Figure 48 As shown. The driving component 130 then drives the main body component 110 to move backward and downward, causing the main body component 110 to move to the second surface b, as shown. Figure 49 As shown.

[0317] In the second scenario, if the support assembly on the second surface b cannot be fully supported on the second surface b, and the support arm 124 is suspended, then the support arm 124 first moves down to the third surface c and is supported on the third surface c, as shown below. Figure 50 As shown. The first and second wheel assemblies 150a and 150b are recovered and transferred to the main assembly 110, as... Figure 51 As shown. The driving component 130 then drives the main body component 110 to move backward and downward, causing the main body component 110 to move to the second surface b, as shown. Figure 52 As shown.

[0318] Cleaning: The cleaning process is the same as that for moving from a lower surface to a higher surface, and will not be described in detail.

[0319] Second, the method of moving from the second surface b to the third surface c is the same as the method of moving from the first surface a to the second surface b, and can be referred to as the method of moving from the first surface a to the second surface b.

[0320] It should be noted that in some embodiments, both moving from a lower surface to a higher surface and moving from a higher surface to a lower surface may include cleaning. Cleaning may occur only during the movement from the lower surface to the higher surface, or during the movement from the higher surface to the lower surface, or cleaning may not be performed at all, with the supporting device merely overcoming the obstacle. No specific limitations are imposed in this application.

[0321] Based on the same inventive concept, this application also provides a cleaning device, which includes cleaning equipment and the aforementioned support device 100.

[0322] Based on the same inventive concept, this application also provides a cleaning system, which includes a cleaning base station, cleaning equipment and the aforementioned support device 100.

[0323] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0324] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0325] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A support device, characterized in that, The utility model relates to a kind of barrier crossing device, including: Main body assembly (110) for supporting carried object; Supporting assembly (120) and drive assembly (130), the drive assembly (130) is drivingly connected the main body assembly (110) with the supporting assembly (120), and the drive assembly (130) includes motor; Wherein, the drive assembly (130) is used to drive the main body assembly (110) and the supporting assembly (120) relative motion, to make the main body assembly (110) and the supporting assembly (120) obstacle crossing.

2. The support device of claim 1, wherein The drive assembly (130) is used to drive the main body assembly (110) and the supporting assembly (120) alternate motion.

3. The support device of claim 2, wherein, The supporting assembly (120) is supported on second surface (b), and the drive assembly (130) is used to drive the main body assembly (110) from the second surface (b) to first surface (a) or from the first surface (a) to the second surface (b), wherein the first surface (a) is higher than the second surface (b); And / or The main body assembly (110) is supported on first surface (a), and the drive assembly (130) is used to drive the supporting assembly (120) from second surface (b) to the first surface (a) or from the first surface (a) to the second surface (b), wherein the first surface (a) is higher than the second surface (b).

4. The support device of claim 1, wherein The drive assembly (130) includes first driving part (131), first transmission part (132) and first connecting piece (134), the first driving part (131) is drivingly connected the first transmission part (132), the first transmission part (132) is drivingly connected the first connecting piece (134), and the first connecting piece (134) is rotatably connected the main body assembly (110) and the supporting assembly (120).

5. The support device of claim 4, wherein, The supporting assembly (120) and the first connecting piece (134) are both two, the first transmission part (132) includes first gear set (1324), transmission shaft (1325) and transmission wheel (1326), the transmission shaft (1325) is connected the first gear set (1324) with the transmission wheel (1326), the first gear set (1324) is drivingly connected one of the first connecting piece (134), and the transmission wheel (1326) is drivingly connected another first connecting piece (134).

6. The support device of claim 1, wherein The main body assembly (110) has containing cavity (112) and import and export (112a) communicated with the containing cavity (112), and the carried object can be in and out to the containing cavity (112) by the import and export (112a), and the supporting assembly (120) is arranged on one side of the import and export (112a).

7. The support device of claim 1, wherein The supporting assembly (120) includes support (122) and support arm (124), the support (122) is connected with the drive assembly (130), and the support arm (124) is movably connected with the support (122).

8. The support device of claim 7, wherein, The support arm (124) is supported on the third surface (c), and the support frame (122) is supported on the second surface (b), and the driving assembly (130) is used for driving the main body assembly (110) to move from the second surface (b) to the first surface (a) or from the first surface (a) to the second surface (b); And / or The support frame (122) is supported on the second surface (b), and the driving assembly (130) is used for driving the main body assembly (110) to move from the second surface (b) to the first surface (a) or from the first surface (a) to the second surface (b). Wherein, the first surface (a) is higher than the second surface (b), and the second surface (b) is higher than the third surface (c).

9. The support device of claim 7, wherein, The support arm (124) comprises a support piece (1241), a second driving piece (1242) and a second transmission piece (1243), the second transmission piece (1243) is connected between the support piece (1241) and the second driving piece (1242), and the second driving piece (1242) drives the second transmission piece (1243) to drive the support piece (1241) to ascend or descend relative to the support frame (122).

10. The support device of claim 9, wherein, The second transmission piece (1243) comprises a second gear set (12431), a first sleeve (12432), a first transmission rod (12433) and a connecting rod (12434), the second gear set (12431) is in transmission connection between the second driving piece (1242) and the first sleeve (12432), the first transmission rod (12433) is arranged in the first sleeve (12432) and is movably connected with the first sleeve (12432), and the connecting rod (12434) is connected between the first transmission rod (12433) and the support piece (1241).

11. The support device of claim 9, wherein, The support assembly (120) further comprises a first detection piece (127), the first detection piece (127) is installed on the support frame (122), and the first detection piece (127) is used for detecting a signal that the support piece (1241) is returned to the support frame (122) in place; And / or The support assembly (120) further comprises a second detection piece (128), the first detection piece (127) is installed on the support piece (1241), and the second detection piece (128) is used for detecting a signal that the support piece (1241) is supported on a stepped surface in place.

12. The support device of claim 1, wherein, The supporting device (100) further comprises a walking wheel assembly (150), the walking wheel assembly (150) is connected to the main body assembly (110), and the walking wheel assembly (150) is used for guiding the main body assembly (110) to move and supporting the main body assembly (110).

13. The support device of claim 12, wherein, The walking wheel assembly (150) comprises a walking wheel (151), a third driving member (152) and a third transmission member (153), the third driving member (152) is installed on the main body assembly (110), the third driving member (152) is in transmission connection with the third transmission member (153), the walking wheel (151) is connected with the third transmission member (153), and the third driving member (152) is used for driving the third transmission member (153) to drive the walking wheel (151) to ascend or descend along a third direction.

14. The support device of claim 12, wherein, The walking wheel assembly (150) is used for guiding the main body assembly (110) to move along a first direction or a second direction, wherein the first direction and the second direction are arranged at an included angle.

15. The support device of claim 14, wherein, The walking wheel assembly (150) comprises a walking wheel (151), a fourth driving member (154) and a fourth transmission member (155), the fourth driving member (154) drives the walking wheel (151) to switch the moving direction from the first direction to the second direction or from the second direction to the first direction through the fourth transmission member (155).

16. The support device of claim 14, wherein, The walking wheel assembly (150) comprises a walking wheel (151) and a fifth driving member (156), the fifth driving member (156) is connected with a rotating shaft of the walking wheel (151) and is used for driving the walking wheel (151) to rotate.

17. The support device of claim 12, wherein, The walking wheel assembly (150) is two, and the two walking wheel assemblies (150) move synchronously or asynchronously.

18. The support device of claim 17, wherein, The two walking wheel assemblies (150) move alternately or synchronously along the first direction and synchronously along the second direction. And / or The two walking wheel assemblies (150) descend synchronously or asynchronously along the third direction.

19. The support device of claim 1, wherein, The supporting device (100) further comprises a cleaning assembly (170), the cleaning assembly (170) is installed on the supporting assembly (120), and the cleaning assembly (170) is used for sweeping a step surface during movement of the main body assembly (110) along the second direction.

20. The support device of claim 19, wherein, The cleaning assembly (170) comprises a cleaning member (172) and a second connecting member (174), one end of the second connecting member (174) is in rotary connection with the supporting assembly (120), and the other end is connected with the cleaning member (172), so that the cleaning member (172) can move along the first direction.

21. The support device of claim 20, wherein, The second connecting member (174) comprises a connecting portion (1742) and an abutting portion (1744) connected with each other, the cleaning member (172) is connected with the abutting portion (1744), the connecting portion (1742) is in rotary connection with the supporting assembly (120), and the abutting portion (1744) protrudes from the supporting assembly (120).

22. The support device of claim 20, wherein, The cleaning assembly (170) further comprises a limiting member (179), the limiting member (179) is connected with the supporting assembly (120) to form a limiting groove (1791), and the second connecting member (174) is arranged in the limiting groove (1791) to limit the swing range of the second connecting member (174).

23. The support device of claim 20, wherein, The cleaning piece (172) comprises a cleaning part (1722) and a mounting part (1724), the mounting part (1724) is connected with the second connecting piece (174), the mounting part (1724) has a guide groove (1726) arranged along a first direction, the support assembly (120) is provided with a guide part (1223), and the guide part (1223) is arranged in the guide groove (1726).

24. The support device of claim 20, wherein, The cleaning assembly (170) further comprises a second elastic piece (176), and the second elastic piece (176) connects the second connecting piece (174) and the support assembly (120).

25. The support device of claim 20, wherein, The main body assembly (110) comprises a containing cavity (112) and an inlet and outlet (112a) communicating with the containing cavity (112), the cleaning assembly (170) further comprises an eighth driving piece (178), and the eighth driving piece (178) is connected with the second connecting piece (174) and used for guiding the second connecting piece (174) to swing away from the inlet and outlet (112a), so that the cleaning piece (172) moves away from the direction of the inlet and outlet (112a).

26. The support device of claim 1, wherein, The supporting device (100) further comprises a fixing assembly (140) mounted on the main body assembly (110) and used for fixing the carried object.

27. The bolster device of claim 26, wherein, The fixing assembly (140) comprises a fixing assembly driving piece (141), a fixing assembly transmission piece (142) and two clamping pieces (143), the fixing assembly driving piece (141) is in transmission connection with the fixing assembly transmission piece (142), the fixing assembly transmission piece (142) is in transmission connection with the two clamping pieces (143), and the fixing assembly driving piece (141) drives the two clamping pieces (143) to move towards or away from each other through the fixing assembly transmission piece (142), so as to fix or release the carried object.

28. The support device of claim 26, wherein, The main body assembly (110) has a containing cavity (112) for fixing the carried object and an inlet and outlet (112a) for the carried object to enter or exit the containing cavity (112), and the fixing assembly (140) is arranged close to the inlet and outlet (112a).

29. The support device of claim 1, wherein, The supporting device (100) further comprises a rotating assembly (180) connected with the main body assembly (110) and used for carrying a cleaning device, and the rotating assembly (180) is used for driving the carried object to rotate relative to the main body assembly (110).

30. The bolster device of claim 29, wherein, The rotating assembly (180) comprises a seventh driving piece (182) and a rotating piece (184), the rotating piece (184) carries the cleaning device, and the seventh driving piece (182) drives the rotating piece (184) to rotate, so that an edge brush of the cleaning device is located outside the main body assembly (110).

31. The bolster device of claim 30, wherein, The rotating assembly (180) further comprises a first protrusion (185) and a second protrusion (186), the first protrusion (185) and the second protrusion (186) are arranged at intervals on the rotating member (184), the main body assembly (110) is provided with a third detection member (187), the third detection member (187) is used for detecting a first protrusion (185) and a second protrusion (186) in place signal, the first protrusion (185) in place signal represents the advancing direction of the carried object moving to the first direction, the second protrusion (186) in place signal represents the advancing direction of the carried object moving to the second direction.

32. The bolster device of claim 31, wherein, In the case of moving the main body assembly (110) in the second direction, the brush of the carried object is located outside the main body assembly (110).

33. The support device of claim 1, wherein, The supporting device (100) further comprises an auxiliary wheel assembly (160), the auxiliary wheel assembly (160) is arranged on one side of the main body assembly (110); The main body assembly (110) is provided with a fourth detection member (165), in the case of the auxiliary wheel (161) touching the ground, the auxiliary wheel (161) triggers the fourth detection member (165).

34. A cleaning device characterized by The supporting device (100) is used for supporting a cleaning device, and the main body assembly (110) supports the cleaning device.

35. A cleaning system characterized by, The supporting device (100) is used for supporting a cleaning device, and the main body assembly (110) supports the cleaning device.

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