Cleaning robot carrying device

Abstract

The utility model relates to the technical field of cleaning robots, in particular to a cleaning robot carrying device. The cleaning robot carrying device comprises a supporting mechanism which is provided with a parking area used for bearing a cleaning robot; the supporting mechanism is arranged on the moving mechanism, the moving mechanism comprises a main moving arm, an auxiliary moving arm and a driving device, one end of the auxiliary moving arm is rotationally connected to the main moving arm, and the driving device has first driving force and second driving force; wherein the first driving force is used for driving the main moving arm and / or the auxiliary moving arm to move, so that the cleaning robot carrying device moves on the working face; the second driving force is used for driving the auxiliary moving arm to rotate relative to the main moving arm so as to adjust the included angle between the main moving arm and the auxiliary moving arm. The cleaning robot carrying device can be applied to a multi-story building or an environment with a discontinuous working face, and can assist the cleaning robot in striding over obstacles to carry out full-area cleaning operation.

Description

Technical Field

[0001] This utility model relates to the field of cleaning robot technology, and specifically to a cleaning robot transport device. Background Technology

[0002] In multi-story buildings or environments with discontinuous work surfaces, cleaning robots can only clean partial areas and cannot overcome obstacles to achieve full-area cleaning. For example, after cleaning a work surface on one floor, the cleaning robot cannot climb to a higher floor to clean, requiring the user to carry it there. Similarly, if the cleaning area is divided into two sections by a ditch, after cleaning the first section, the robot cannot cross the ditch to clean the second section, requiring the user to carry it there.

[0003] In order to enable cleaning robots to cross obstacles and reach another area for cleaning without human assistance, it is essential to develop a transport device that can assist cleaning robots in crossing obstacles. Utility Model Content

[0004] The purpose of this invention is to solve the following technical problem: In multi-story buildings or environments with discontinuous work surfaces, cleaning robots can only clean part of the area and cannot overcome obstacles to achieve full-area cleaning operations.

[0005] To achieve the above objectives, this utility model provides a cleaning robot transport device, which includes: a support mechanism having a parking area for carrying the cleaning robot; and a moving mechanism, the support mechanism being disposed on the moving mechanism, the moving mechanism including a main moving arm, an auxiliary moving arm, and a driving device, one end of the auxiliary moving arm being rotatably connected to the main moving arm, and the driving device having a first driving force and a second driving force; wherein, the first driving force is used to drive the main moving arm and / or the auxiliary moving arm to move, so that the cleaning robot transport device moves on the working surface; the second driving force is used to drive the auxiliary moving arm to rotate relative to the main moving arm, so as to adjust the included angle between the main moving arm and the auxiliary moving arm.

[0006] In some embodiments, the main mobile arm includes a first mounting frame, a first pulley, a second pulley, and a first track. The first pulley and the second pulley are rotatably connected to the first mounting frame, and the first track is tensioned on the first pulley and the second pulley.

[0007] In some embodiments, the auxiliary mobile arm includes a second mounting frame, a third pulley, a fourth pulley, and a second track. The third pulley and the fourth pulley are rotatably connected to the second mounting frame, and the second track is tensioned on the third pulley and the fourth pulley.

[0008] In some embodiments, the first driving force is used to drive the first pulley or the second pulley to rotate, and the second pulley is coupled to the third pulley to drive the third pulley to rotate.

[0009] In some embodiments, the auxiliary moving arm and the main moving arm are arranged side by side, a transmission sleeve is coaxially provided on the second pulley, the transmission sleeve extends to the auxiliary moving arm, and the third pulley is coaxially fixed to the transmission sleeve. The second pulley drives the third pulley to rotate through the transmission sleeve.

[0010] In some embodiments, the driving device includes a transmission rod, one end of which is fixed to an auxiliary moving arm and connected to one end of a main moving arm. A second driving force is used to drive the transmission rod to rotate, thereby driving the auxiliary moving arm to rotate relative to the main moving arm.

[0011] In some embodiments, the transmission rod passes through the transmission sleeve, and the transmission rod and the transmission sleeve are coaxially arranged.

[0012] In some embodiments, an auxiliary movable arm is fixedly connected to one end of the main movable arm with a fixing member, and a transmission rod is fixedly connected to the fixing member.

[0013] In some embodiments, a first rotating member is provided between the outer wall of the transmission rod and the inner wall of the transmission sleeve, and the transmission sleeve is rotatably connected to the transmission rod through the first rotating member.

[0014] In some embodiments, a fixed support ring is fixedly connected to the main moving arm, and a transmission sleeve passes through the fixed support ring and is rotatably connected to the fixed support ring.

[0015] In some embodiments, a second rotating member is provided between the inner sidewall of the fixed support ring and the outer sidewall of the transmission sleeve, and the transmission sleeve is rotatably connected to the fixed support ring through the second rotating member.

[0016] In some embodiments, a movable support ring is fixedly connected to the auxiliary movable arm, the fixed support ring extends toward the main movable arm, the movable support ring is sleeved outside the fixed support ring, and the inner sidewall of the movable support ring is rotatably engaged with the outer sidewall of the fixed support ring.

[0017] In some embodiments, the driving device includes a second drive motor and a transmission assembly. The second drive motor outputs a second driving force, one end of the transmission assembly is connected to the output end of the second drive motor, and the other end of the transmission assembly is connected to a transmission rod.

[0018] In some embodiments, the transmission assembly includes a worm and a turbine, a second driving force is used to drive the worm to rotate, the turbine is fixed to the transmission rod, and the worm meshes with the turbine.

[0019] In some embodiments, the transmission assembly further includes a universal joint and a drive shaft, one end of the universal joint being connected to the output end of the second drive motor, and the drive shaft being connected between the worm gear and the universal joint.

[0020] In some embodiments, two moving mechanisms are provided opposite to each other, and a support mechanism is provided between the two moving mechanisms. The transmission components on the two moving mechanisms are adjusted by the angle of the universal joint to form a clearance area. When the cleaning robot enters the parking area, the width of the clearance area along the width direction of the cleaning robot is not less than the maximum width of the cleaning robot.

[0021] In some embodiments, a signal transmitting module is also included, and a signal receiving module is provided on the cleaning robot. The signal receiving module is configured to receive signals from the signal transmitting module and then identify the position of the cleaning robot's carrying device.

[0022] In some embodiments, a first conductive terminal is provided on the parking area, and a second conductive terminal is provided on the cleaning robot. When the cleaning robot moves to the parking area, the first conductive terminal connects with the second conductive terminal, and the energy system inside the cleaning robot supplies power to the cleaning robot carrier through the first conductive terminal and the second conductive terminal.

[0023] In some embodiments, an energy storage system is also included for storing electrical energy to power the cleaning robot carrier.

[0024] In some embodiments, the cleaning robot is provided with a set of walking wheels at its bottom and a hollow area on its support mechanism. When the cleaning robot moves to the parking area, the set of walking wheels of the cleaning robot passes through the hollow area and contacts the working surface.

[0025] In some embodiments, the cleaning robot is provided with a set of walking wheels at its bottom and a hollow area on the support mechanism. The walking wheels can be raised and lowered relative to the bottom of the cleaning robot. The support mechanism is provided with a locking mechanism for locking the cleaning robot in the parking area. After the locking mechanism locks the cleaning robot in the parking area, the walking wheels descend relative to the bottom of the cleaning robot so that the walking wheels contact the working surface after passing through the hollow area, and the cleaning robot carrier device is removed from the working surface.

[0026] In some embodiments, the hollowed-out area includes a first hollowed-out area and a second hollowed-out area, and the walking wheel set includes a main drive wheel set and a swivel wheel. The first hollowed-out area corresponds to the main drive wheel set, and the second hollowed-out area corresponds to the swivel wheel.

[0027] In some embodiments, the bottom of the cleaning robot is also provided with a vacuuming module and a mopping module, which together constitute a cleaning module and correspond to the hollowed-out area.

[0028] In some embodiments, when the walking wheel assembly passes through the hollowed-out area and comes into contact with the working surface, the vacuuming module and / or mopping module come into contact with the working surface.

[0029] In some embodiments, a first signal terminal is provided on the parking area, and a second signal terminal is provided on the cleaning robot. When the cleaning robot moves to the parking area, the first signal terminal and the second signal terminal are connected. The control system inside the cleaning robot controls the operation of the cleaning robot's carrying device through the electrical connection between the first signal terminal and the second signal terminal.

[0030] In some embodiments, the support mechanism includes a first support portion and a second support portion, wherein when the cleaning robot moves to the parking area, the tail of the cleaning robot is supported on the first support portion and the front of the cleaning robot is supported on the second support portion.

[0031] In some embodiments, a first hollow area is formed between a first support portion and a second support portion, and a second hollow area is formed on the second support portion.

[0032] The above-mentioned technical solution of this utility model has the following beneficial effects:

[0033] The cleaning robot can move to the parking area of ​​the support mechanism; then, the drive unit drives the main moving arm and / or the auxiliary moving arm to move through a first driving force, causing the cleaning robot carrier to move the cleaning robot on the work surface. When the cleaning robot carrier moves the cleaning robot to an obstacle, the drive unit drives the auxiliary moving arm to rotate relative to the main moving arm through a second driving force, so that the auxiliary moving arm rests on the obstacle. Then, the drive unit again drives the main moving arm and / or the auxiliary moving arm to move through the first driving force, causing the cleaning robot carrier to move the cleaning robot on the obstacle. During the movement of the cleaning robot carrier on the obstacle, the drive unit also drives the auxiliary moving arm to rotate relative to the main moving arm in real time through the second driving force, so that the main moving arm and the auxiliary moving arm are in constant contact with the surface of the obstacle, so that the main moving arm and the auxiliary moving arm maintain an attitude conducive to crossing the obstacle. When the cleaning robot carrier moves the cleaning robot to the target position on the obstacle, the cleaning robot can leave the parking area of ​​the support mechanism and move to the work surface at the target position. Therefore, the cleaning robot carrying device of this utility model can be applied to multi-story buildings or environments with discontinuous work surfaces, and can assist the cleaning robot in crossing obstacles to carry out cleaning operations in the entire area. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of a cleaning robot transport device carrying a cleaning robot in one embodiment of the present invention;

[0035] Figure 2 This is a three-dimensional schematic diagram of a cleaning robot transport device according to one embodiment of the present invention;

[0036] Figure 3This is a three-dimensional schematic diagram of a cleaning robot transport device according to one embodiment of the present invention;

[0037] Figure 4 This is a three-dimensional schematic diagram of the moving mechanism in one embodiment of the present invention;

[0038] Figure 5 This is a three-dimensional schematic diagram of the moving mechanism in one embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the installation of the first track and the second track in one embodiment of this utility model;

[0040] Figure 7 This is a schematic diagram of the connection between the second pulley and the third pulley in one embodiment of this utility model;

[0041] Figure 8 This is a schematic diagram of the auxiliary moving arm in its initial position according to one embodiment of the present invention;

[0042] Figures 9 to 10 This is a schematic diagram of a cleaning robot carrying device crossing a staircase in one embodiment of the present invention;

[0043] Figures 11 to 12 This is a schematic diagram of a cleaning robot carrying device crossing a ditch in one embodiment of this utility model.

[0044] Explanation of reference numerals in the attached figures

[0045] 1. Supporting mechanism; 11. Hollowed-out area; 111. First hollowed-out area; 112. Second hollowed-out area; 12. Limiting component; 13. Base plate; 14. Clearance cavity; 15. First support part; 16. Second support part;

[0046] 2. Moving mechanism; 21. Main moving arm; 211. First mounting frame; 2111. First mounting plate; 2112. Second mounting plate; 2113. First pressure roller; 2114. Fixed support ring; 2115. Second rotating component; 212. First pulley; 213. Second pulley; 214. First track; 22. Auxiliary moving arm; 221. Second mounting frame; 2211. Third mounting plate; 2212. Fourth mounting plate; 2213. Fixing component; 2214. Moving support ring; 2215. Second pressure roller; 2216. Connecting plate; 2217. Connecting sleeve; 222. Third pulley; 223. Fourth pulley; 224. Second track; 225. Transmission sleeve; 23. Drive unit; 231. First drive motor; 232. Second drive motor; 233. Transmission rod; 234. First rotating component; 235. Transmission assembly; 2351. Worm gear; 2352. Turbine; 2353. Universal joint; 2354. Drive shaft; 2355. Sealing cover; 2356. First bearing housing; 2357. Second bearing housing;

[0047] 3. Stairs;

[0048] 4. Ditches;

[0049] 5. Cleaning robots. Detailed Implementation

[0050] The features and exemplary embodiments of various aspects of this utility model will now be described in detail. To make the objectives, technical solutions, and advantages of this utility model clearer, the following description, in conjunction with the accompanying drawings and specific embodiments, will provide a further detailed description. It should be understood that the specific embodiments described herein are intended only to explain this utility model and not to limit it. For those skilled in the art, this utility model can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this utility model by illustrating examples of it.

[0051] like Figures 1 to 6 As shown, this utility model provides a cleaning robot transport device, which includes a support mechanism 1 and a moving mechanism 2. The support mechanism 1 has a parking area for carrying the cleaning robot 5. The support mechanism 1 is mounted on the moving mechanism 2. The moving mechanism 2 includes a main moving arm 21, an auxiliary moving arm 22, and a drive device 23. One end of the auxiliary moving arm 22 is rotatably connected to the main moving arm 21. The drive device 23 has a first driving force and a second driving force. The first driving force is used to drive the main moving arm 21 and / or the auxiliary moving arm 22 to move, so that the cleaning robot transport device moves on the working surface; the second driving force is used to drive the auxiliary moving arm 22 to rotate relative to the main moving arm 21, so as to adjust the included angle between the main moving arm 21 and the auxiliary moving arm 22.

[0052] Specifically, the cleaning robot 5 can move to the parking area of ​​the support mechanism 1; then the drive device 23 drives the main moving arm 21 and / or the auxiliary moving arm 22 to move through a first driving force, so that the cleaning robot carrier moves the cleaning robot 5 on the work surface. When the cleaning robot carrier moves the cleaning robot 5 to an obstacle, the drive device 23 drives the auxiliary moving arm 22 to rotate relative to the main moving arm 21 through a second driving force, so that the auxiliary moving arm 22 rests on the obstacle. Then the drive device 23 again drives the main moving arm 21 and / or the auxiliary moving arm 22 to move through the first driving force, so that the cleaning robot carrier moves the cleaning robot 5 on the obstacle. During the process of the cleaning robot carrier moving the cleaning robot 5 on the obstacle, the drive device 23 also drives the auxiliary moving arm 22 to rotate relative to the main moving arm 21 in real time through the second driving force, so that the main moving arm 21 and the auxiliary moving arm 22 are in real time in contact with the surface of the obstacle, so that the main moving arm 21 and the auxiliary moving arm 22 maintain an attitude that is conducive to crossing the obstacle. When the cleaning robot carrier moves the cleaning robot 5 to the target location on the obstacle, the cleaning robot 5 can leave the parking area of ​​the support mechanism 1 and move to the working surface of the target location. Therefore, the cleaning robot carrier of this utility model can be applied to multi-story buildings or environments with discontinuous working surfaces, and can assist the cleaning robot 5 in crossing obstacles to carry out full-area cleaning operations.

[0053] For example, such as Figure 8 As shown, in the initial state, the auxiliary moving arm 22 is located at an initial position close to the side of the main moving arm 21. Figures 9 to 10 As shown, the obstacle that the cleaning robot's transport device needs to overcome is a staircase. When it needs to climb the stairs, the drive unit 23 drives the auxiliary moving arm 22 to rotate towards the stairs via a second driving force, so that the auxiliary moving arm 22 rests on the stair step 3. Then, the drive unit 23 drives the main moving arm 21 and the auxiliary moving arm 22 to move via a first driving force, allowing the auxiliary moving arm 22 to begin climbing the stair step 3. During the climb, the auxiliary moving arm 22 can adaptively rotate, keeping the posture of the auxiliary moving arm 22 and the main moving arm 21 in a suitable state for climbing the stairs. Finally, the auxiliary moving arm 22 and the main moving arm 21 are approximately parallel and both are located on the stair step 3, gradually climbing to a higher floor. Figures 11 to 12 As shown, the obstacle that the cleaning robot's transport device needs to cross is ditch 4. When it needs to cross ditch 4, the drive unit 23 drives the auxiliary moving arm 22 to rotate toward ditch 4 through a second driving force, so that the auxiliary moving arm 22 rests on both sides of ditch 4. Then, the drive unit 23 drives the main moving arm 21 and the auxiliary moving arm 22 to move through a first driving force, at which time the main moving arm 21 and the auxiliary moving arm 22 can move across ditch 4.

[0054] like Figures 1 to 6 As shown, in some embodiments of this utility model, the main moving arm 21 includes a first mounting frame 211, a first pulley 212, a second pulley 213 and a first track 214. The first pulley 212 and the second pulley 213 are rotatably connected to the first mounting frame 211, and the first track 214 is tensioned on the first pulley 212 and the second pulley 213 in a rotating manner.

[0055] For example, such as Figures 1 to 6 As shown, the first mounting frame 211 includes a first mounting plate 2111 and a second mounting plate 2112. The first mounting plate 2111 is fixedly mounted on the side of the support mechanism 1, and the second mounting plate 2112 is located on the side of the first mounting plate 2111 away from the support mechanism 1. A spacer is fixedly connected between the first mounting plate 2111 and the second mounting plate 2112, thereby achieving the spaced distribution of the first mounting plate 2111 and the second mounting plate 2112. A first pulley 212 and a second pulley 213 are rotatably connected between the first mounting plate 2111 and the second mounting plate 2112. A drive device 23 is mounted on the first mounting plate 2111. The drive device 23 can be driven to either the first pulley 212 or the second pulley 213. In this way, the drive device 23 can drive the first pulley 212 or the second pulley 213 to rotate, thereby driving the first track 214 to rotate. During the rotation of the first track 214, the outer surface of the first track 214 comes into contact with the surface of the working surface or obstacle, so as to cause the cleaning robot carrier to move on the working surface or obstacle.

[0056] It should be noted that the outer surface of the first track 214 has grooves and protrusions. The length direction of the protrusions is perpendicular to the traveling direction of the cleaning robot carrier. Along the rotation direction of the first track 214, multiple protrusions are evenly spaced on the rotating surface of the first track 214, and grooves are formed between two protrusions. In this way, when the cleaning robot carrier needs to climb stairs, the grooves on the outer surface of the first track 214 engage with the right-angled edges of the steps 3 to enable the cleaning robot carrier to move on the stairs. When the cleaning robot carrier needs to cross the ditch 4, the protrusions contact the working surfaces on both sides of the ditch 4, increasing the friction between the first track 214 and the working surfaces, thereby enabling the cleaning robot carrier to successfully cross the ditch 4.

[0057] In some embodiments, such as Figure 6As shown, a first pressure roller 2113 is provided in the first mounting frame 211. The first pressure roller 2113 is rotatably mounted in the first mounting frame 211. Multiple first pressure rollers 2113 are distributed at intervals along the length of the first mounting frame 211. The multiple first pressure rollers 2113 are located within the rotation area of ​​the first track 214, and the bottom of the first pressure roller 2113 contacts the bottom side track of the first track 214. The multiple first pressure rollers 2113 can press against the bottom side track of the first track 214 within the rotation area of ​​the first track 214. In this way, when the first track 214 travels on the working surface or obstacle surface, the possibility of deformation of the first track 214 can be reduced, ensuring the contact degree between the first track 214 and the working surface or obstacle surface during travel, thereby improving the stability of the first track 214 during transportation.

[0058] like Figures 1 to 6 As shown, in some embodiments of this utility model, the auxiliary moving arm 22 includes a second mounting frame 221, a third pulley 222, a fourth pulley 223, and a second track 224. The third pulley 222 and the fourth pulley 223 are rotatably connected to the second mounting frame 221, and the second track 224 is tensioned on the third pulley 222 and the fourth pulley 223 in a rotating manner.

[0059] For example, such as Figures 1 to 6 As shown, the second mounting frame 221 includes a third mounting plate 2211 and a fourth mounting plate 2212. The third mounting plate 2211 is positioned close to the second mounting plate 2112, and the fourth mounting plate 2212 is located on the side of the third mounting plate 2211 facing away from the second mounting plate 2112. A spacer is fixedly connected between the third mounting plate 2211 and the fourth mounting plate 2212, thereby achieving the spaced distribution of the third mounting plate 2211 and the fourth mounting plate 2212. The third pulley 222 and the fourth pulley 223 are rotatably connected between the third mounting plate 2211 and the fourth mounting plate 2212. The second track 224 is tensioned on the third pulley 222 and the fourth pulley 223 in a rotating manner. The structure of the second track 224 is the same as that of the first track 214, and will not be described in detail here.

[0060] In some embodiments, such as Figure 6 As shown, the second mounting frame 221 is provided with a second pressure roller 2215. The connection relationship between the second pressure roller 2215 and the second mounting frame 221 is the same as the connection relationship between the first pressure roller 2113 and the first mounting frame 211. The connection relationship between the second pressure roller 2215 and the second track 224 is the same as the connection relationship between the first pressure roller 2113 and the first track 214. These will not be described in detail here.

[0061] like Figures 4 to 7As shown, in some embodiments of this utility model, the drive device 23 is mounted on the first mounting bracket 211, and the drive device 23 has a first driving force and a second driving force. The first driving force is used to drive the first pulley 212 or the second pulley 213 to rotate, and the second pulley 213 is linked to the third pulley 222 to drive the third pulley 222 to rotate.

[0062] Specifically, the third pulley 222 is fixedly connected to the second pulley 213 and their axes coincide, so that the second pulley 213 can drive the third pulley 222 to rotate, thereby enabling the first track 214 and the second track 224 to rotate synchronously.

[0063] like Figures 4 to 8 As shown, in some embodiments of this utility model, the auxiliary moving arm 22 and the main moving arm 21 are arranged side by side, the second pulley 213 is coaxially provided with a transmission sleeve 225, the transmission sleeve 225 extends to the auxiliary moving arm 22, the third pulley 222 is coaxially fixed to the transmission sleeve 225, and the second pulley 213 drives the third pulley 222 to rotate through the transmission sleeve 225.

[0064] Specifically, the transmission sleeve 225 is fixedly connected to the side of the second pulley 213. For example, the end of the transmission sleeve 225 can be fixedly connected to the side of the second pulley 213 by welding or integral molding. The transmission sleeve 225 is rotatably connected to the first mounting bracket 211 and the second mounting bracket 221. The third pulley 222 is fixedly sleeved on the transmission sleeve 225, so the second pulley 213 can drive the third pulley 222 to rotate through the transmission sleeve 225.

[0065] like Figure 7 As shown, in some embodiments of this utility model, the driving device 23 includes a transmission rod 233, one end of which is fixed to the auxiliary moving arm 22 and connected to one end of the main moving arm 21. The second driving force is used to drive the transmission rod 233 to rotate, so as to drive the auxiliary moving arm 22 to rotate relative to the main moving arm 21.

[0066] Specifically, the transmission rod 233 extends within the first mounting bracket 211 and the second mounting bracket 221. The second driving force of the drive device 23 can drive the transmission rod 233 to rotate, and the transmission rod 233 can drive the auxiliary moving arm 22 to rotate. Preferably, one end of the transmission rod 233 is fixedly connected to the end of the second mounting bracket 221. Preferably, one end of the transmission rod 233 is fixedly connected to the end of the fourth mounting plate 2212, and the other end of the transmission rod 233 extends out of the first mounting plate 2111, and the drive device 23 is connected to the end of the transmission rod 233 extending from the first mounting plate 2111.

[0067] Of course, the rotation of the auxiliary movable arm 22 can also be achieved in other ways, and this utility model does not impose any limitations. For example, the drive device 23 may include a hydraulic cylinder or an electric telescopic rod, etc., which drives the rotation of the auxiliary movable arm 22.

[0068] like Figure 7 As shown, in some embodiments of this utility model, the transmission rod 233 passes through the transmission sleeve 225, and the transmission rod 233 and the transmission sleeve 225 are coaxially arranged.

[0069] Specifically, the transmission rod 233 passes through the transmission sleeve 255, and the axes of the transmission rod 233, the transmission sleeve 225, the first pulley 212, the second pulley 213, the third pulley 222, and the fourth pulley 223 are coaxial. With this arrangement, the rotation axis of the auxiliary moving arm 22 relative to the main moving arm 21 passes through the rotation axis of the transmission rod 233. Simultaneously, the rotation axes of the second pulley 213 and the third pulley 222 also pass through the rotation axis of the transmission rod 233. That is, the rotation axes of the auxiliary moving arm 22, the second pulley 213, and the third pulley 222 all pass through the rotation axis of the transmission rod 233, achieving a compact structural design.

[0070] like Figure 7 As shown, in some embodiments of this utility model, the auxiliary moving arm 22 is fixedly connected to one end of the main moving arm 21 by a fixing member 2213, and the transmission rod 233 is fixedly connected to the fixing member 2213.

[0071] For example, the fixing member 2213 includes a connecting plate 2216 and a connecting sleeve 2217. The connecting sleeve 2217 is sleeved on the end of the transmission rod 233 away from the main moving arm 21. The connecting plate 2216 is fixedly connected to the side of the connecting sleeve 2217 facing away from the transmission rod 233, and the connecting plate 2216 is fixedly installed on the outside of the second mounting bracket 221, for example, the connecting plate 2216 is fixedly installed on the outside of the fourth mounting plate 2212. For example, the connecting plate 2216 is a plate-shaped structural member. The connecting plate 2216 is bolted to the auxiliary moving arm 22 to achieve a fixed connection between the fixing member 2213 and the auxiliary moving arm 22; the connecting plate 2216 is bolted to the end of the transmission rod 233 away from the main moving arm 21 to achieve a fixed connection between the transmission rod 233 and the fixing member 2213. Of course, the fixed connection between the transmission rod 233 and the fixing member 2213 and the fixed connection between the fixing member 2213 and the auxiliary moving arm 22 can also be welding, fixed snap-fit, etc., and this utility model does not limit it in this regard.

[0072] like Figure 7As shown, in some embodiments of this utility model, the outer diameter of the transmission rod 233 is smaller than the inner diameter of the transmission sleeve 225, so that there is a gap between the outer wall of the transmission rod 233 and the inner wall of the transmission sleeve 225. A first rotating member 234 is provided between the outer wall of the transmission rod 233 and the inner wall of the transmission sleeve 225. For example, the first rotating member 234 is a bearing. The inner wall of the transmission sleeve 225 is fixed to the outer ring of the first rotating member 234, and the outer wall of the transmission rod 233 is fixed to the inner ring of the first rotating member 234. The transmission sleeve 225 is rotatably connected to the transmission rod 233 through the first rotating member 234. By providing the first rotating member 234, the rotation of the transmission sleeve 225 relative to the transmission rod 233, or the rotation of the transmission rod 233 relative to the transmission sleeve 225, can be made smoother.

[0073] In some embodiments, at least two first rotating members 234 are provided along the axial direction of the transmission rod 233, and at least two first rotating members 234 are supported together between the outer side wall of the transmission rod 233 and the inner side wall of the transmission sleeve 225, thereby further improving the smoothness and stability of the transmission sleeve 225 rotating relative to the transmission rod 233, or the transmission rod 233 rotating relative to the transmission sleeve 225.

[0074] like Figure 7 As shown, in some embodiments of this utility model, a fixed support ring 2114 is fixedly connected to the main moving arm 21, and a transmission sleeve 225 passes through the fixed support ring 2114, rotatably connected to the fixed support ring 2114. Specifically, the fixed support ring 2114 can be disposed on the first mounting bracket 211, for example, on the second mounting plate 2112. The fixed support ring 2114 has a hole through which the transmission sleeve 225 passes, and the hole is coaxially disposed with the transmission sleeve 225. In this way, a friction pair is formed between the fixed support ring 2114 and the transmission sleeve 225. Furthermore, since the fixed support ring 2114 and the transmission sleeve 225 are rotatably connected, the friction pair between the fixed support ring 2114 and the transmission sleeve 225 is a rolling friction pair. The rolling friction pair can reduce the friction force on the transmission sleeve 225, reduce the noise during rotation, and improve the smoothness, stability, and lifespan of the transmission sleeve 225 during rotation.

[0075] like Figure 7As shown, in some embodiments of this utility model, a second rotating member 2115 is provided between the inner wall of the fixed support ring 2114 and the outer wall of the transmission sleeve 225. For example, the second rotating member 2115 is a bearing. The inner ring of the second rotating member 2115 is fixed to the outer wall of the transmission sleeve 225, and the outer ring of the second rotating member 2115 is fixed to the inner wall of the fixed support ring 2114. The transmission sleeve 225 is rotatably connected to the fixed support ring 2114 via the second rotating member 2115. Thus, the arrangement of the second rotating member 2115 makes the friction pair between the fixed support ring 2114 and the transmission sleeve 225 a rolling friction pair. The rolling friction pair can reduce the frictional force on the transmission sleeve 225, reduce noise during rotation, and improve the smoothness, stability, and lifespan of the transmission sleeve 225 during rotation.

[0076] like Figure 7 As shown, in some embodiments of this utility model, a movable support ring 2214 is fixedly connected to the auxiliary movable arm 22, and a fixed support ring 2114 extends toward the main movable arm 21. The movable support ring 2214 has a hole through which the fixed support ring 2114 passes, and the movable support ring 2214 is sleeved on the outside of the fixed support ring 2114. The movable support ring 2214 and the fixed support ring 2114 are coaxially arranged, and the inner sidewall of the movable support ring 2214 is rotatably engaged with the outer sidewall of the fixed support ring 2114. Specifically, the movable support ring 2214 can be fixed on the second mounting bracket 221, for example, the movable support ring 2214 is fixed on the third mounting plate 2211, and the movable support ring 2214 can rotate synchronously with the rotation of the auxiliary movable arm 22. A portion of the fixed support ring 2114 extends to the inner side of the second mounting bracket 221, and the movable support ring 2214 is sleeved around the fixed support ring 2114 in a circumferential manner. In this way, a friction pair is formed between the fixed support ring 2114 and the moving support ring 2214. During the rotation of the auxiliary moving arm 22 relative to the main moving arm 21, the friction pair plays a lubricating role, which can reduce the friction force on the auxiliary moving arm 22, reduce the noise during the rotation process, and improve the smoothness and stability during the rotation process.

[0077] like Figures 1 to 6 As shown, in some embodiments of this utility model, the driving device 23 includes a second driving motor 232 and a transmission component 235. The second driving motor 232 outputs a second driving force, one end of the transmission component 235 is connected to the output end of the second driving motor 232, and the other end of the transmission component 235 is connected to the transmission rod 233.

[0078] Specifically, the second drive motor 232 drives the transmission rod 233 to rotate via the transmission assembly 235, thereby causing the auxiliary moving arm 22 to rotate. Preferably, the second drive motor 232 and the transmission assembly 235 are mounted on the first mounting bracket 211, for example, on the first mounting plate 2111.

[0079] like Figures 4 to 6 As shown, in some embodiments of this utility model, the transmission assembly 235 includes a worm 2351 and a turbine 2352. A second driving force is used to drive the worm 2351 to rotate. The turbine 2352 is fixed to the transmission rod 233, and the worm 2351 meshes with the turbine 2352.

[0080] Specifically, the worm gear 2351 can be rotatably mounted on the first mounting bracket 211, for example, on the first mounting plate 2111. The worm 2352 can be fixedly sleeved on the end of the transmission rod 233. The second drive motor 232 drives the worm gear 2351 to rotate, and the worm gear 2351 drives the transmission rod 233 to rotate through the worm 2352, which in turn drives the auxiliary moving arm 22 to rotate.

[0081] In some embodiments, such as Figures 4 to 6 As shown, the transmission assembly 235 also includes two first bearing seats 2356, which are fixedly mounted on the first mounting bracket 211. For example, the first bearing seats 2356 are mounted on the first mounting plate 2111, and the worm gear 2351 is rotatably mounted on the first bearing seats 2356.

[0082] like Figures 4 to 6 As shown, in some embodiments of this utility model, the transmission assembly 235 further includes a universal joint 2353 and a transmission shaft 2354. One end of the universal joint 2353 is connected to the output end of the second drive motor 232, and the transmission shaft 2354 is connected between the worm gear 2351 and the universal joint 2353.

[0083] Specifically, the drive shaft 2354 can be rotatably mounted on the first mounting bracket 211, for example, on the first mounting plate 2111. One end of the universal joint 2353 is connected to the output end of the second drive motor 232, and the other end of the universal joint 2353 is connected to one end of the drive shaft 2354, the other end of the drive shaft 2354 being connected to the end of the worm gear 2351. Preferably, the drive shaft 2354 can be connected to the worm gear 2351 via a coupling. By providing the universal joint 2353, it is convenient to form a transmission engagement with variable axial force angle between the second drive motor 232 and the worm gear 2351.

[0084] In some embodiments, such as Figures 4 to 7 As shown, the transmission assembly 235 also includes two second bearing seats 2357, which are fixedly mounted on the first mounting bracket 211. For example, the second bearing seats 2357 are mounted on the first mounting plate 2111, and the transmission shaft 2354 is rotatably mounted on the second bearing seats 2357.

[0085] In some embodiments, such as Figures 4 to 7As shown, the transmission assembly 235 also includes a sealing cover 2355, which is fixedly installed on the first mounting bracket 211. For example, the sealing cover 2355 is fixedly installed on the side of the first mounting plate 2111 facing the parking area. The sealing cover 2355 can cover the worm gear 2351 and the turbine 2352.

[0086] like Figures 4 to 6 As shown, in some embodiments of this utility model, two moving mechanisms 2 are arranged opposite each other, and a support mechanism 1 is disposed between the two moving mechanisms 2. The transmission components 235 on the two moving mechanisms 2 are adjusted at the angle of the universal joint 2353 to form a clearance area. When the cleaning robot 5 enters the parking area, the width of the clearance area along the width direction of the cleaning robot 5 is not less than the maximum width of the cleaning robot 5. It should be noted that the width direction of the cleaning robot 5 refers to the direction perpendicular to the forward direction of the cleaning robot 5.

[0087] Specifically, the clearance area is located between the drive shafts 2354 of the two moving mechanisms 2. The greater the distance between the two drive shafts 2354, the wider the clearance area, which is more conducive to parking the cleaning robot 5. By setting a universal joint 2353, the output shafts of the drive shaft 2354 and the second drive motor 232 are allowed to be staggered, so that the drive shaft 2354 can be closer to the first mounting frame 211. This allows the worm gear 2351 and the drive shaft 2354 to be closer to the first mounting frame 211, thereby increasing the width of the clearance area to facilitate parking the cleaning robot 5.

[0088] In some embodiments of this utility model, the cleaning robot carrier device further includes a signal transmitting module, and the cleaning robot 5 is equipped with a signal receiving module. The signal receiving module is configured to receive signals from the signal transmitting module and then identify the position of the cleaning robot carrier device. Thus, through the cooperation of the signal transmitting module and the signal receiving module, the cleaning robot 5 can quickly locate the position of the cleaning robot carrier device, enabling it to automatically navigate to the parking area of ​​the cleaning robot carrier device, thereby improving the intelligence level of the cleaning robot carrier device in receiving the cleaning robot.

[0089] like Figures 1 to 3As shown, in some embodiments of this utility model, a first conductive terminal (not shown) is provided on the parking area, and a second conductive terminal (not shown) is provided on the cleaning robot 5. When the cleaning robot 5 moves to the parking area, the first conductive terminal connects with the second conductive terminal, and the internal energy system of the cleaning robot 5 supplies power to the cleaning robot carrier device through the first and second conductive terminals. Specifically, the internal energy system of the cleaning robot 5 is a battery. When the first and second conductive terminals are connected, the battery can simultaneously form the energy system of the cleaning robot carrier device. That is, when the first and second conductive terminals are connected, the cleaning robot 5 and the cleaning robot carrier device share a single energy system. This simplifies the structure of the cleaning robot carrier device and reduces its weight and cost.

[0090] In some other embodiments of this utility model, the cleaning robot carrier also includes a power storage system for storing electrical energy to power the cleaning robot carrier. With this configuration, the cleaning robot carrier has an independent power storage system, instead of utilizing the internal energy system of the cleaning robot 5. This independent power storage system provides greater endurance, and because it no longer relies on the internal energy system of the cleaning robot 5, the endurance of the cleaning robot 5 is also extended. Therefore, the independent power storage system of the cleaning robot carrier improves the overall endurance of the cleaning robot carrier and the cleaning robot 5, and extends the duration of a single operation for both.

[0091] like Figures 1 to 3 As shown, in some embodiments of this utility model, the bottom of the cleaning robot 5 is provided with a set of walking wheels, and the support mechanism 1 is provided with a hollow area 11. When the cleaning robot 5 moves to the parking area, the set of walking wheels of the cleaning robot 5 passes through the hollow area 11 and contacts the working surface.

[0092] When the cleaning robot carrier needs to turn, the conventional technique involves controlling the rotational speed difference between the first track 214 and the second track 224 of the two moving mechanisms 2. For example, when the rotational speed of the first track 214 and the second track 224 on the right is greater than that on the left, the cleaning robot carrier turns to the left; when the rotational speed of the first track 214 and the second track 224 on the right is less than that on the left, the cleaning robot carrier turns to the right. However, the contact surfaces of the first track 214 and the second track 224 of the two moving mechanisms 2 with the working surface are rectangular. This rectangular surface has a large contact area with the working surface, resulting in excessive friction during turning and making turning difficult. In contrast, after the walking wheel set of the cleaning robot 5 passes through the hollow area 11 and contacts the working surface, the turning of the walking wheel set of the cleaning robot 5 can be controlled synchronously to control the turning of the cleaning robot carrier, thereby reducing the turning difficulty of the cleaning robot carrier.

[0093] like Figures 1 to 3 As shown, in some embodiments of this utility model, the cleaning robot 5 is provided with a set of walking wheels at its bottom, and the support mechanism 1 is provided with a hollow area 11. The walking wheels can be raised and lowered relative to the bottom of the cleaning robot 5. The support mechanism 1 is provided with a locking mechanism for locking the cleaning robot 5 in the parking area. After the locking mechanism locks the cleaning robot in the parking area, the walking wheels descend relative to the bottom of the cleaning robot 5 so that the walking wheels contact the working surface after passing through the hollow area 11, and the cleaning robot carrier device is removed from the working surface. At this time, the cleaning robot 5 can assist the cleaning robot carrier device in moving, for example, the cleaning robot 5 can assist the cleaning robot carrier device in moving forward, backward, or turning.

[0094] It should be noted that the locking mechanism can be implemented in any form that meets the requirements of this utility model, such as a spring pin or a quick-release buckle, and this utility model does not impose any restrictions.

[0095] like Figures 1 to 3 As shown, in some embodiments of this utility model, the hollowed-out area 11 includes a first hollowed-out area 111 and a second hollowed-out area 112, and the walking wheel set includes a main drive wheel set and a universal wheel. The first hollowed-out area 111 corresponds to the main drive wheel set, and the second hollowed-out area 112 corresponds to the universal wheel.

[0096] Specifically, the omnidirectional wheels of the cleaning robot 5 provide guidance for the cleaning robot's carrying device, while the main drive wheel set of the cleaning robot 5 provides additional power for the movement of the carrying device. Therefore, the walking wheel set, including the main drive wheel set and the omnidirectional wheels, provides assistance for the movement of the cleaning robot's carrying device. Additionally, the area of ​​the first hollow region 111 is larger than the area of ​​the second hollow region 112.

[0097] In some embodiments of this utility model, the bottom of the cleaning robot 5 is also provided with a vacuuming module and a mopping module, which together constitute a cleaning module. The cleaning module corresponds to the first hollow area 111 so that the first hollow area 111 can be adapted to the cleaning module.

[0098] In some embodiments of this invention, when the walking wheel assembly passes through the hollowed-out area 11 and comes into contact with the working surface, the vacuuming module and / or mopping module also come into contact with the working surface. During the movement of the robot carrier, the vacuuming module and / or mopping module can continue cleaning work to improve cleaning efficiency.

[0099] In some embodiments of this utility model, a first signal terminal (not shown in the figure) is provided on the parking area, and a second signal terminal (not shown in the figure) is provided on the cleaning robot 5. When the cleaning robot 5 moves to the parking area, the first signal terminal and the second signal terminal are connected, and the control system inside the cleaning robot 5 controls the operation of the cleaning robot carrying device through the first signal terminal and the second signal terminal.

[0100] Specifically, through the cooperation of the first signal terminal and the second signal terminal, the control system inside the cleaning robot 5 can control the cleaning robot carrier device. The cleaning robot carrier device no longer needs to be equipped with a separate control system, which simplifies the structure of the cleaning robot carrier device and makes the cleaning robot carrier device lighter.

[0101] like Figures 1 to 6 As shown, in some embodiments of this utility model, the driving device 23 further includes a first driving motor 231. The first driving motor 231 outputs a first driving force, and the output end of the first driving motor 231 is used to drive the first pulley 212 or the second pulley 213 to rotate. The support mechanism 1 is provided with a clearance cavity 14 for accommodating the first driving motor 231. The first driving motor 231 drives the first pulley 212 to rotate through the first driving force, thereby causing the second pulley 213 and the first track 214 to rotate.

[0102] In some embodiments, such as Figures 1 to 3As shown, the support mechanism 1 includes a base plate 13 and a limiting member 12. The base plate 13 and the limiting member 12 are fixedly connected between two moving mechanisms 2. Specifically, the base plate 13 and the limiting member 12 are fixedly connected between two first mounting brackets 211. A first hollow area 111 is formed between the base plate 13 and the limiting member 12, and a second hollow area 112 is formed on the base plate 13. The base plate 13 and the limiting member 12 together restrict and form a parking area. The base plate 13 is close to the front end of the main moving arm 21, and the limiting member 12 is located at the rear end of the main moving arm 21. The thickness of the limiting member 12 is greater than that of the base plate 13, and the side of the limiting member 12 facing the base plate 13 is provided with an arc-shaped groove that can adapt to the tail of the cleaning robot 5. The limiting member 12 can be a block-shaped solid component or a hollow box. Preferably, the limiting member 12 is also provided with a clearance cavity 14 for accommodating the first drive motor 231. When the cleaning robot 5 moves into the parking area, the limiting member 12 abuts against the tail of the cleaning robot 5, and the base plate 13 supports the bottom of the cleaning robot 5.

[0103] like Figures 1 to 3 As shown, in some embodiments of this utility model, the support mechanism 1 further includes a first support part 15 and a second support part 16. When the cleaning robot 5 moves to the parking area, the tail of the cleaning robot 5 is supported on the first support part 15, and the front of the cleaning robot 5 is supported on the second support part 16.

[0104] Specifically, the first support part 15 is fixedly connected to the groove wall of the arc-shaped groove of the limiting member 12. The first support part 15 extends from the groove wall of the arc-shaped groove away from the limiting member 12, and the first support part 15 is at the same height as the base plate 13. The second support part 16 is the base plate 13. With this configuration, the first support part 15 and the second support part 16 support the bottom of the cleaning robot 5, and can support the tail and front of the cleaning robot 5, thereby improving the stability of the cleaning robot 5 in the parking area.

[0105] like Figures 1 to 3 As shown, in some embodiments of this utility model, a first hollow area 111 is formed between a first support portion 15 and a second support portion 16, and a second hollow area 112 is formed on the second support portion 16.

[0106] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The above examples are only for the purpose of helping to understand the method and core ideas of this utility model. The above are only preferred embodiments of this utility model. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this utility model, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the concept and technical solution of this utility model to other occasions without modification, should all be considered within the protection scope of this utility model.

Claims

1. A cleaning robot transport device, characterized in that, include: The support structure has a parking area for carrying the cleaning robot; as well as A mobile mechanism, wherein the support mechanism is disposed on the mobile mechanism, the mobile mechanism includes a main mobile arm, an auxiliary mobile arm and a driving device, one end of the auxiliary mobile arm is rotatably connected to the main mobile arm, and the driving device has a first driving force and a second driving force; Wherein, the first driving force is used to drive the main moving arm and / or the auxiliary moving arm to move, so that the cleaning robot carrier device moves on the working surface; the second driving force is used to drive the auxiliary moving arm to rotate relative to the main moving arm, so as to adjust the angle between the main moving arm and the auxiliary moving arm.

2. The cleaning robot transport device according to claim 1, characterized in that, The main moving arm includes a first mounting frame, a first pulley, a second pulley, and a first track. The first pulley and the second pulley are rotatably connected to the first mounting frame, and the first track is tensioned on the first pulley and the second pulley.

3. The cleaning robot transport device according to claim 2, characterized in that, The auxiliary mobile arm includes a second mounting frame, a third pulley, a fourth pulley, and a second track. The third pulley and the fourth pulley are rotatably connected to the second mounting frame, and the second track is tensioned on the third pulley and the fourth pulley.

4. The cleaning robot transport device according to claim 3, characterized in that, The first driving force is used to drive the first pulley or the second pulley to rotate. The second pulley is linked to the third pulley to drive the third pulley to rotate.

5. The cleaning robot transport device according to claim 4, characterized in that, The auxiliary moving arm and the main moving arm are arranged side by side. A transmission sleeve is coaxially provided on the second pulley, and the transmission sleeve extends to the auxiliary moving arm. The third pulley is coaxially fixed to the transmission sleeve, and the second pulley drives the third pulley to rotate through the transmission sleeve.

6. The cleaning robot transport device according to claim 5, characterized in that, The driving device includes a transmission rod, one end of which is fixed to the auxiliary moving arm and connected to one end of the main moving arm. The second driving force is used to drive the transmission rod to rotate, thereby driving the auxiliary moving arm to rotate relative to the main moving arm.

7. The cleaning robot transport device according to claim 6, characterized in that, The transmission rod passes through the transmission sleeve, and the transmission rod and the transmission sleeve are coaxially arranged.

8. The cleaning robot transport device according to claim 6, characterized in that, The auxiliary moving arm is fixedly connected to one end of the main moving arm with a fixing member, and the transmission rod is fixedly connected to the fixing member.

9. The cleaning robot transport device according to claim 7, characterized in that, A first rotating component is provided between the outer wall of the transmission rod and the inner wall of the transmission sleeve, and the transmission sleeve is rotatably connected to the transmission rod through the first rotating component.

10. The cleaning robot transport device according to claim 6, characterized in that, A fixed support ring is fixedly connected to the main moving arm, and the transmission sleeve passes through the fixed support ring and is rotatably connected to the fixed support ring.

11. The cleaning robot transport device according to claim 10, characterized in that, A second rotating component is provided between the inner wall of the fixed support ring and the outer wall of the transmission sleeve, and the transmission sleeve is rotatably connected to the fixed support ring through the second rotating component.

12. The cleaning robot transport device according to claim 10, characterized in that, A movable support ring is fixedly connected to the auxiliary movable arm. The fixed support ring extends toward the main movable arm. The movable support ring is sleeved outside the fixed support ring. The inner sidewall of the movable support ring is rotatably engaged with the outer sidewall of the fixed support ring.

13. The cleaning robot transport device according to claim 6, characterized in that, The driving device includes a second drive motor and a transmission assembly. The second drive motor outputs a second driving force. One end of the transmission assembly is connected to the output end of the second drive motor, and the other end of the transmission assembly is connected to the transmission rod.

14. The cleaning robot transport device according to claim 13, characterized in that, The transmission assembly includes a worm and a turbine, the second driving force is used to drive the worm to rotate, the turbine is fixed to the transmission rod, and the worm meshes with the turbine.

15. The cleaning robot transport device according to claim 14, characterized in that, The transmission assembly also includes a universal joint and a drive shaft. One end of the universal joint is connected to the output end of the second drive motor, and the drive shaft is connected between the worm gear and the universal joint.

16. The cleaning robot transport device according to claim 15, characterized in that, Two moving mechanisms are arranged opposite each other, and the support mechanism is located between the two moving mechanisms. The transmission components on the two moving mechanisms are adjusted by the angle of the universal joint to form a clearance area. When the cleaning robot enters the parking area, the width of the clearance area along the width direction of the cleaning robot is not less than the maximum width of the cleaning robot.

17. The cleaning robot transport device according to claim 1, characterized in that, It also includes a signal transmitting module, and the cleaning robot is equipped with a signal receiving module, which is configured to receive the signal from the signal transmitting module and then identify the position of the cleaning robot's carrying device.

18. The cleaning robot transport device according to claim 1, characterized in that, The parking area is provided with a first conductive terminal, and the cleaning robot is provided with a second conductive terminal. When the cleaning robot moves to the parking area, the first conductive terminal connects with the second conductive terminal, and the energy system inside the cleaning robot supplies power to the cleaning robot carrier through the first conductive terminal and the second conductive terminal.

19. The cleaning robot transport device according to claim 1, characterized in that, It also includes an energy storage system for storing electrical energy to power the cleaning robot carrier.

20. The cleaning robot transport device according to claim 1, characterized in that, The cleaning robot is equipped with a set of walking wheels at its bottom, and the support mechanism has a hollow area. When the cleaning robot moves to the parking area, the walking wheels of the cleaning robot pass through the hollow area and come into contact with the working surface.

21. The cleaning robot transport device according to claim 1, characterized in that, The cleaning robot is equipped with a set of walking wheels at its bottom, and the support mechanism has a hollow area. The walking wheels can be raised and lowered relative to the bottom of the cleaning robot. The support mechanism is equipped with a locking mechanism for locking the cleaning robot in the parking area. After the locking mechanism locks the cleaning robot in the parking area, the walking wheel set descends relative to the bottom of the cleaning robot so that the walking wheel set contacts the working surface after passing through the hollow area, and the cleaning robot carrying device is removed from the working surface.

22. The cleaning robot transport device according to claim 20 or 21, characterized in that, The hollowed-out area includes a first hollowed-out area and a second hollowed-out area. The walking wheel set includes a main drive wheel set and a universal wheel. The first hollowed-out area corresponds to the main drive wheel set, and the second hollowed-out area corresponds to the universal wheel.

23. The cleaning robot transport device according to claim 20 or 21, characterized in that, The bottom of the cleaning robot is also equipped with a vacuuming module and a mopping module, which together constitute a cleaning module, and the cleaning module corresponds to the hollowed-out area.

24. The cleaning robot transport device according to claim 23, characterized in that, When the walking wheel assembly passes through the hollowed-out area and comes into contact with the working surface, the dust suction module and / or the mopping module come into contact with the working surface.

25. The cleaning robot transport device according to claim 1, characterized in that, The parking area is provided with a first signal terminal, and the cleaning robot is provided with a second signal terminal. When the cleaning robot moves to the parking area, the first signal terminal and the second signal terminal are connected. The control system inside the cleaning robot controls the operation of the cleaning robot's carrying device through the electrical connection between the first signal terminal and the second signal terminal.

26. The cleaning robot transport device according to claim 22, characterized in that, The support mechanism includes a first support part and a second support part. When the cleaning robot moves to the parking area, the tail of the cleaning robot is supported on the first support part, and the front of the cleaning robot is supported on the second support part.

27. The cleaning robot transport device according to claim 26, characterized in that, The first hollow area is formed between the first support portion and the second support portion, and the second hollow area is formed on the second support portion.

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