Cleaning robot

Abstract

The utility model relates to the field of cleaning equipment, and discloses a cleaning robot. The cleaning robot comprises a robot body, a balance weight cavity is formed in the robot body, one part of the balance weight cavity is located at the front end of the robot body, the other part of the balance weight cavity is located at the rear end of the robot body, and a balance weight structure is arranged in the balance weight cavity and can move in the balance weight cavity; when the machine body is switched from the non-obstacle-crossing state to the obstacle-crossing state, the gravity center of the balance weight structure moves from the front end of the machine body to the rear end of the machine body in the balance weight cavity. When the machine body is switched from the obstacle crossing state to the non-obstacle crossing state, the gravity center of the balance weight structure moves from the rear end of the machine body to the front end of the machine body in the balance weight cavity. The cleaning robot provided by the utility model can climb over a low obstacle, and in the process of climbing over the low obstacle, the stability of the front end part of the machine body in a lifting state in the obstacle crossing process is improved through controllable change of the gravity center, so that the stability of the cleaning robot in the process of climbing over and passing through the low obstacle is improved.

Description

Technical Field

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

[0002] Cleaning robots can be used for automated floor cleaning, with applications including home cleaning and large-scale venue cleaning. To achieve autonomous movement, existing cleaning robots typically include at least a main body and a drive assembly. The drive assembly includes a first drive wheel and a second drive wheel located beneath the main body. A power assembly is housed within the main body, driving the first and second drive wheels to move the cleaning robot across the surface to be cleaned.

[0003] During the movement of the cleaning robot using its first and second drive wheels, it may encounter low obstacles, such as thresholds or steps. These low obstacles typically divide the area to be cleaned into two zones, and the cleaning robot needs to overcome these obstacles to automatically clean the other zone.

[0004] Currently, when low obstacles are below the chassis of the cleaning robot, the robot can pass directly through them during movement. However, when low obstacles are higher than the chassis, the robot cannot pass directly due to the height limitation of the obstacles. To solve this problem, existing cleaning robots are equipped with obstacle-crossing components on the first and second drive wheels. When the cleaning robot approaches an obstacle higher than the chassis, the obstacle-crossing component switches from its initial state to a supported state, raising the front end of the robot. In this raised position, the robot performs the action of vaulting over the low obstacle. After the robot has completely crossed the obstacle, the obstacle-crossing component switches from the supported state back to its initial state, allowing the robot to return to a horizontal position.

[0005] When the obstacle is higher than the chassis of the device, the existing cleaning robot's center of gravity is located in the front area of ​​the robot. This configuration makes the cleaning robot extremely unstable when it is raised, which may cause the tail of the cleaning robot to lift up during obstacle crossing, affecting the robot's passability. Utility Model Content

[0006] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this utility model provides a cleaning robot.

[0007] This utility model provides a cleaning robot, including a body, the body having a counterweight cavity, a part of the counterweight cavity being located at the front end of the body and another part being located at the rear end of the body, and a counterweight structure being provided in the counterweight cavity, the counterweight structure being able to move within the counterweight cavity;

[0008] When the machine body switches from a non-obstacle-crossing state to an obstacle-crossing state, the center of gravity of the counterweight structure moves from the front end of the machine body toward the rear end of the machine body within the counterweight cavity; when the machine body switches from an obstacle-crossing state to a non-obstacle-crossing state, the center of gravity of the counterweight structure moves from the rear end of the machine body toward the front end of the machine body within the counterweight cavity.

[0009] Optionally, the bottom of the machine body is provided with a first drive wheel and a second drive wheel, the front end of the machine body is located on the side where the rotation axis of the first drive wheel or the second drive wheel faces the forward direction of the machine body, and the rear end of the machine body is located on the side where the rotation axis of the first drive wheel or the second drive wheel is away from the forward direction of the machine body.

[0010] Optionally, the bottom of the machine body is provided with casters, the casters are located at the front end of the machine body, and the portion of the counterweight cavity located at the front end of the machine body is within the area enclosed by the casters, the first drive wheel, and the second drive wheel.

[0011] Optionally, the bottom surface of the counterweight cavity includes a horizontal surface and an inclined surface. When the machine body is in a non-obstacle-crossing state, the horizontal surface is parallel to the ground, the inclined surface is connected to the horizontal surface, the inclined surface extends from the horizontal surface to the rear end of the machine body, and the end of the inclined surface connected to the horizontal surface is lower than the end of the inclined surface that is away from the horizontal surface.

[0012] Optionally, the horizontal plane is located at the front end of the body, and a portion of the inclined plane is located at the front end of the body, while another portion is located at the rear end of the body.

[0013] Optionally, a counterweight chamber is fixed inside the machine body. The counterweight chamber includes a bottom wall and a side wall. The side wall is arranged around the bottom wall along the edge of the bottom wall, and the area formed between the side wall and the bottom wall is the counterweight cavity.

[0014] Optionally, the counterweight cavity includes a first cavity and a second cavity. The first cavity is located at the front end of the machine body, and the second cavity is located at the rear end of the machine body. A conveying channel connects the first cavity and the second cavity, and the counterweight structure can move from the first cavity to the second cavity or from the second cavity to the first cavity through the conveying channel.

[0015] Optionally, the counterweight structure includes a swing shaft, a swing arm, and a counterweight component;

[0016] The swing shaft is fixed inside the counterweight cavity, one end of the swing arm is rotatably connected to the swing shaft, and the counterweight is connected to the end of the swing arm away from the swing shaft; or

[0017] The swing shaft is rotatably connected inside the counterweight cavity, one end of the swing arm is fixedly connected to the swing shaft, and the counterweight is connected to the end of the swing arm away from the swing shaft.

[0018] Optionally, the axial direction of the swing shaft is perpendicular to the forward direction of the machine body, the side of the swing shaft located in the forward direction of the machine body is the front end of the machine body, and the side of the swing shaft located away from the forward direction of the machine body is the rear end of the machine body.

[0019] Optionally, the bottom of the machine body is provided with a first drive wheel and a second drive wheel, the rotation axis of the first drive wheel or the second drive wheel is perpendicular to the forward direction of the machine body, and the axis of the swing shaft and the rotation axis of the first drive wheel or the second drive wheel are coplanar in the vertical direction.

[0020] Optionally, the counterweight structure is a fluid that can flow freely within the counterweight cavity, a sliding member that can slide freely within the counterweight cavity, or a rolling member that can roll freely within the counterweight cavity.

[0021] The technical solution provided by this utility model has the following advantages compared with the prior art:

[0022] The cleaning robot provided by this utility model can climb over low obstacles, and during the process of climbing over low obstacles, the stability of the front part of the robot body in the raised state is improved by the controllable change of the center of gravity. This improves the stability of the cleaning robot when climbing over and passing through low obstacles. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention and, together with the description, serve to explain the principles of the present invention.

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1This is a schematic diagram of the structure of the cleaning robot described in this embodiment of the utility model;

[0026] Figure 2 This is a front view of the cleaning robot described in this embodiment of the utility model;

[0027] Figure 3 This is a schematic diagram of the cleaning robot crossing obstacles according to an embodiment of the present invention;

[0028] Figure 4 This is a front view of the cleaning robot crossing obstacles according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of the counterweight chamber containing the counterweight structure according to the embodiment of this utility model;

[0030] Figure 6 This is a schematic diagram of the counterweight bin described in an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the counterweight cavity in an embodiment of the present invention, which includes a first cavity and a second cavity;

[0032] Figure 8 This is a schematic diagram of the counterweight structure in an embodiment of the present invention, which includes a swing shaft, a swing arm, and a counterweight.

[0033] Explanation of reference numerals in the attached figures

[0034] 1. Body; 11. Casters; 12. First drive wheel; 13. Second drive wheel; 14. Obstacle-crossing wheel; 15. Front end; 16. Rear end; 2. Counterweight structure; 21. Steel ball; 22. Swing shaft; 23. Swing arm; 24. Counterweight component; 3. Counterweight compartment; 31. Counterweight cavity; 311. Inclined surface; 312. Horizontal surface; 313. First cavity; 314. Second cavity; 315. Conveying channel; 32. Bottom wall; 33. Side wall; 4. Obstacle. Detailed Implementation

[0035] To better understand the above-mentioned objectives, features, and advantages of this utility model, the solution of this utility model will be further described below. It should be noted that, unless otherwise specified, the embodiments and features of this utility model can be combined with each other.

[0036] The following description sets forth many specific details to provide a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; obviously, the embodiments described in the specification are only some embodiments of the present invention, and not all embodiments.

[0037] Combination Figures 1 to 4 As shown, the cleaning robot provided by this utility model embodiment includes a body 1, and the body 1 has a counterweight cavity 31. The counterweight cavity 31 can be set inside the body 1 or on the top of the body 1, and can be designed according to actual needs.

[0038] A portion of the counterweight cavity 31 is located at the front end 15 of the body 1, and another portion is located at the rear end 16 of the body 1. A counterweight structure 2 is provided inside the counterweight cavity 31. The counterweight structure 2 can move within the counterweight cavity 31. This movement refers to the fact that the counterweight structure 2 can move freely within the counterweight cavity 31 along the forward or backward direction of the body 1, so that the counterweight structure 2 can change the center of gravity of the body 1 during movement, specifically changing the center of gravity of the body 1 in the direction of travel.

[0039] When the machine body 1 switches from the non-obstacle-crossing state to the obstacle-crossing state, the center of gravity of the counterweight structure 2 moves from the front end 15 of the machine body 1 toward the rear end 16 of the machine body 1 within the counterweight cavity 31; when the machine body 1 switches from the obstacle-crossing state to the non-obstacle-crossing state, the center of gravity of the counterweight structure 2 moves from the rear end 16 of the machine body 1 toward the front end 15 of the machine body 1 within the counterweight cavity 31.

[0040] It should be noted that the aforementioned non-obstacle-crossing state refers to the state in which the cleaning robot is parallel to the surface to be cleaned before encountering a low obstacle and after crossing a low obstacle; the aforementioned obstacle-crossing state refers to the state in which the front end 15 of the cleaning robot is raised when crossing a low obstacle. In addition, unless otherwise specified in this specific embodiment, low obstacles refer to low obstacles that are higher than the chassis of the body 1, such as thresholds, steps, etc. that are higher than the chassis of the body 1.

[0041] The cleaning robot provided by this utility model has a counterweight cavity 31 on its body 1, and a counterweight structure 2 is movable within the counterweight cavity 31. Thus, when the body 1 approaches a low obstacle 4 that needs to be overcome, the body 1 switches from a non-obstacle-crossing state to an obstacle-crossing state. In the obstacle-crossing state, the front end 15 of the body 1 is raised, meaning the distance from the ground to the front end 15 of the body 1 is greater than the distance from the ground to the rear end 16 of the body 1. This causes most or all of the counterweight structure 2 to move from the front end 15 to the rear end 16 of the body 1 within the counterweight cavity 31, thereby shifting the center of gravity of the counterweight structure 2 from the front end 15 to the rear end 16 of the body 1.

[0042] When the robot body 1 is in obstacle-crossing mode, the center of gravity of the counterweight structure 2 is located at the rear end 16 of the robot body 1. This results in the rear end 16 of the robot body 1 experiencing a greater gravitational force than the front end 15 of the robot body 1. This prevents the front end 15 of the robot body 1 from sinking and the rear end 16 from tilting up during obstacle crossing, thus stabilizing the raised state of the front end 15 of the robot body 1. The stable raised state of the front end 15 during obstacle crossing ensures the robot's passability.

[0043] During obstacle crossing, the cleaning robot moves forward with its front end 15 raised. The first drive wheel, the second drive wheel, and the obstacle crossing component work together to overcome low obstacles 4. After successfully crossing the obstacle, the robot body 1 switches to a non-obstacle crossing state. In this state, the robot body 1 is approximately level with the surface to be cleaned. This causes most or all of the counterweight structure 2 to move from the rear end 16 to the front end 15 of the robot body 1 within the counterweight cavity 31, thereby shifting the center of gravity of the counterweight structure 2 from the rear end 16 to the front end 15 of the robot body 1.

[0044] The cleaning robot provided by this utility model can climb over low obstacles 4, and during the process of climbing over low obstacles 4, the stability of the front end 15 of the robot body 1 in the lifted state is improved by the controllable change of the center of gravity. This improves the stability of the cleaning robot when climbing over and passing low obstacles 4.

[0045] In some implementations, such as Figure 1 As shown, the bottom of the body 1 is provided with a first drive wheel 12 and a second drive wheel 13. The rotation axis of the first drive wheel 12 and the rotation axis of the second drive wheel 13 can be collinear or at an obtuse angle to each other. When the cleaning robot moves along a straight line, the rotation axis of the first drive wheel 12 and the rotation axis of the second drive wheel 13 are collinear; when the cleaning robot moves along an arc, the deflection angle of the first drive wheel 12 must be greater than the deflection angle of the second drive wheel 13, or the deflection angle of the second drive wheel 13 must be greater than the deflection angle of the first drive wheel 12, which results in the rotation axis of the first drive wheel 12 and the rotation axis of the second drive wheel 13 forming an obtuse angle to each other.

[0046] The front end 15 of the body 1 is located on the side of the body 1 facing forward, close to the rotation axis of the first drive wheel 12 or the second drive wheel 13, while the rear end 16 of the body 1 is located on the side of the body 1 facing away from the rotation axis of the first drive wheel 12 or the second drive wheel 13.

[0047] In some implementations, combined Figures 2 to 4As shown, the bottom of the body 1 is equipped with casters 11, which are located at the front end 15 of the body 1. The casters 11 are situated on a straight line parallel to the forward direction of the cleaning robot and passing through the center of the cleaning robot. The counterweight cavity 31 located at the front end 15 of the body 1 lies within the area enclosed by the casters 11, the first drive wheel 12, and the second drive wheel 13. The arrangement of the casters 11, the first drive wheel 12, and the second drive wheel 13 is a conventional arrangement in the prior art and will not be described in detail here.

[0048] It should be noted that the straight lines mentioned above are not real lines, but rather imaginary lines created to illustrate the position of the omnidirectional wheel 11. Furthermore, the center of the robotic vacuum cleaner refers to the center of its vertical projection when the robot is in operation.

[0049] During the lifting and lowering of the front end 15 of the machine body 1, the machine body 1 pivots around the rotation axis of the first drive wheel 12 or the second drive wheel 13. That is, the rotation axis of the first drive wheel 12 or the second drive wheel 13 is the pivot axis for the lifting and lowering of the front end 15 of the machine body 1. When the machine body 1 is in a non-obstacle-crossing state, the center of gravity of the counterweight structure 2 is located within the area enclosed by the omnidirectional wheel 11, the first drive wheel 12, and the second drive wheel 13. That is, the center of gravity of the counterweight structure 2 is located on the side of the pivot axis facing the forward direction of the machine body 1. In this way, the center of gravity of the counterweight structure 2 can increase the gravity of the front end 15 of the machine body 1, thereby ensuring the stability of the machine body 1 when walking in a non-obstacle-crossing state. When the robot body 1 is in obstacle-crossing mode, the center of gravity of the counterweight structure 2 is located on the side opposite to the direction of travel of the robot body 1 along the pivot axis. This results in the rear end 16 of the robot body 1 experiencing a greater gravitational force than the front end 15, preventing the front end 15 of the robot body 1 from sinking and the rear end 16 from tilting up during obstacle crossing, thus stabilizing the raised state of the front end 15. The stable raised state of the front end 15 during obstacle crossing ensures the robot's passability.

[0050] In some implementations, regardless of whether the machine body 1 is in a non-obstacle-crossing state or an obstacle-crossing state, the center of gravity of the counterweight structure 2 in a stationary state is always on a straight line passing through the caster wheel 11 and parallel to the forward direction of the machine body 1. It should be noted that the above-mentioned straight line is not a real line, but a virtual line fabricated only to illustrate the position of the center of gravity of the counterweight structure 2.

[0051] In this way, the center of gravity of the body 1 can always move near a straight line parallel to the direction of movement of the cleaning robot and passing through the center of the cleaning robot, avoiding the center of gravity of the body 1 from shifting to the sides of the cleaning robot, thereby further improving the stability of the cleaning robot during movement.

[0052] In some embodiments, the bottom surface of the counterweight cavity 31 includes a horizontal surface 312 and an inclined surface 311, with the inclined surface 311 located on the side of the horizontal surface 312 facing the rear end 16 of the body 1. When the body 1 is in a non-obstacle-crossing state, the horizontal surface 312 is parallel to the ground, the inclined surface 311 is connected to the horizontal surface 312, the inclined surface 311 extends from the horizontal surface 312 toward the rear end 16 of the body 1, and the end of the inclined surface 311 connected to the horizontal surface 312 is lower than the end of the inclined surface 311 that is away from the horizontal surface 312.

[0053] In this way, when the machine body 1 is in a non-obstacle-crossing state, the setting of the inclined surface 311 has a limiting effect, which can limit the center of gravity of the counterweight structure 2 to always be located on the horizontal surface 312 of the counterweight cavity 31. This avoids the phenomenon that the center of gravity of the counterweight structure 2 will swing from the horizontal surface 312 to the inclined surface 311 when the machine body 1 is in a non-obstacle-crossing state, thereby ensuring that the center of gravity of the machine body 1 is always located on the horizontal surface 312 when it is in a non-obstacle-crossing state, thereby improving the stability of the machine body 1 during the walking process.

[0054] In some embodiments, when the body 1 is in an obstacle-crossing state, the inclined surface 311 is parallel to the ground, and the horizontal surface 312 is connected to one end of the inclined surface 311, which is lower than the end of the horizontal surface 312 that is far away from the inclined surface 311.

[0055] Thus, when the machine body 1 is in the obstacle-crossing state, the inclined surface 311 is horizontal and the horizontal surface 312 is inclined. The inclined horizontal surface 312 has a limiting effect, which can limit the center of gravity of the counterweight structure 2 to always be located on the inclined surface 311 of the counterweight cavity 31. This avoids the phenomenon that the center of gravity of the counterweight structure 2 will swing from the inclined surface 311 to the horizontal surface 312 when the machine body 1 is in the obstacle-crossing state. This ensures that the center of gravity of the machine body 1 is always located on the inclined surface 311 when it is in the obstacle-crossing state, thereby improving the stability of the machine body 1 during the obstacle-crossing process.

[0056] In some embodiments, the horizontal plane 312 is located at the front end 15 of the body 1, and a portion of the inclined plane 311 is located at the front end 15 of the body 1, while another portion is located at the rear end 16 of the body 1.

[0057] Thus, when the machine body 1 is in a non-obstacle-crossing state, the inclined surface 311 has a limiting effect, which can limit the center of gravity of the counterweight structure 2 to always be located at the low part of the counterweight cavity 31, that is, on the side of the counterweight cavity 31 near the front end 15 of the machine body 1. This avoids the phenomenon that the center of gravity of the counterweight structure 2 swings from the front end 15 of the machine body 1 to the rear end 16 of the machine body 1 when the machine body 1 is in a non-obstacle-crossing state. This ensures that the center of gravity of the machine body 1 is always located at the front end 15 of the machine body 1 when it is in a non-obstacle-crossing state, thereby improving the stability of the machine body 1 during the walking process.

[0058] When the machine body 1 is in the obstacle-crossing state, the front end 15 of the machine body 1 is raised, and the counterweight cavity 31 moves accordingly, so that the inclined surface 311 is parallel to the ground, and the horizontal surface 312 is connected to the inclined surface 311 at one end, which is lower than the end of the horizontal surface 312 that is far away from the inclined surface 311. That is, at this time, the horizontal surface 312 is inclined, and the inclined surface 311 is horizontal. The inclined horizontal surface 312 enables the counterweight structure 2 to move from the horizontal surface 312 toward the inclined surface 311. The counterweight structure 2 can move along the inclined surface 311 toward the rear end 16 of the machine body 1, so that the counterweight structure 2 is located on the side of the counterweight cavity 31 closer to the rear end 16 of the machine body 1, thereby shifting the center of gravity backward, and thus shifting the center of gravity of the machine body 1 backward. Thus, when the front end of the body 1 is raised to be in an obstacle-crossing state, the inclined surface 311 is horizontal and the horizontal surface 312 is inclined. When the body 1 is in an obstacle-crossing state, the inclined horizontal surface 312 has a limiting effect, which can limit the center of gravity of the counterweight structure 2 to always be located at the lower part of the counterweight cavity 31, that is, on the side of the counterweight cavity 31 near the rear end 16 of the body 1. This avoids the phenomenon that the center of gravity of the counterweight structure 2 swings from the rear end 16 of the body 1 to the front end 15 of the body 1 when the body 1 is in an obstacle-crossing state. This ensures that the center of gravity of the body 1 is always located at the rear end 16 of the body 1 when it is in an obstacle-crossing state, thereby improving the stability of the body 1 during the obstacle-crossing process.

[0059] In some implementations, combined Figure 1 , Figure 3 , Figure 5 and Figure 6 As shown, a counterweight chamber 3 is fixed inside the body 1. The counterweight chamber 3 includes a bottom wall 32 and side walls 33. The side walls 33 are arranged along the edge of the bottom wall 32, and the area formed between the side walls 33 and the bottom wall 32 is a counterweight cavity 31. When the body 1 is in an obstacle-crossing state, part of the bottom wall 32 extends horizontally to form a horizontal surface 312, and part of the bottom wall 32 extends obliquely to form an oblique surface 311. The side walls 33 extend upward along the edge of the bottom wall 32 to form the counterweight cavity 31.

[0060] In this design, the counterweight structure 2 is located inside the counterweight chamber 3, facilitating its addition and replacement, and providing convenient operation. The counterweight chamber 3 can be fixedly connected to the main body 1, or it can be detachably connected, depending on the specific requirements.

[0061] In some embodiments, the top of the counterweight chamber 3 is sealed by a cover. With this design, the counterweight chamber 3 can be opened or closed by opening or closing the cover, which facilitates the addition or replacement of the counterweight structure 2. The cover also restricts the movement of the counterweight structure 2 within the counterweight chamber 3, preventing the counterweight structure 2 from detaching from the counterweight chamber 3.

[0062] In another embodiment, a different counterweight cavity 31 structure is provided, such as... Figure 7 As shown, in this embodiment, the counterweight cavity 31 includes a first cavity 313 and a second cavity 314. The first cavity 313 is located at the front end 15 of the body 1, and the second cavity 314 is located at the rear end 16 of the body 1. A conveying channel 315 connects the first cavity 313 and the second cavity 314. The counterweight structure 2 can move from the first cavity 313 to the second cavity 314, or from the second cavity 314 to the first cavity 313, through the conveying channel 315. For example, the counterweight cavity 31 is formed by two water tanks and a water pipe. The interior of one water tank is the first cavity 313, and the interior of the other water tank is the second cavity 314. The water pipe is the conveying channel 315. The counterweight structure 2 is a liquid, and the liquid can flow freely between the first cavity 313 and the second cavity 314 through the conveying channel 315. In this way, the first cavity 313 and the second cavity 314 are two independent cavities. When it is necessary to assemble the counterweight cavity 31 inside the body 1, the positions of the first cavity 313 and the second cavity 314 can be flexibly set according to the spatial layout and counterweight, thereby providing flexible layout space for the layout of other components inside the body 1.

[0063] In another embodiment, a different counterweight structure 2 is provided, such as... Figure 8 As shown, the counterweight structure 2 includes a swing shaft 22, a swing arm 23, and a counterweight 24. The swing shaft 22 is fixed within the counterweight cavity 31. One end of the swing arm 23 is rotatably connected to the swing shaft 22, and the counterweight 24 is connected to the end of the swing arm 23 away from the swing shaft 22. The counterweight 24 and the swing arm 23 can swing relative to the swing shaft 22. Thus, when the machine body 1 switches from a non-obstacle-crossing state to an obstacle-crossing state, the front end 15 of the machine body 1 is raised, and the counterweight 24 swings relative to the swing shaft 22 towards the rear end 16 of the machine body 1. This causes the counterweight 24 to swing within the counterweight cavity 31 towards the rear end 16 of the machine body 1, resulting in a rearward shift of the center of the machine body 1.

[0064] In another embodiment, a different counterweight structure 2 is provided, such as... Figure 8 As shown, the counterweight structure 2 includes a swing shaft 22, a swing arm 23, and a counterweight 24. The swing shaft 22 is rotatably connected within the counterweight cavity 31. One end of the swing arm 23 is fixedly connected to the swing shaft 22, and the counterweight 24 is connected to the end of the swing arm 23 away from the swing shaft 22, allowing the counterweight 24, swing arm 23, and swing shaft 22 to swing relative to the counterweight cavity 31. Thus, when the machine body 1 switches from a non-obstacle-crossing state to an obstacle-crossing state, the front end 15 of the machine body 1 is raised. Under the action of the swing arm 23 and the swing shaft 22, the counterweight 24 can swing relative to the counterweight cavity 31 towards the rear end 16 of the machine body 1, causing the center of the machine body 1 to shift rearward.

[0065] In some embodiments, the axial direction of the swing shaft 22 is perpendicular to the forward direction of the body 1. The side of the swing shaft 22 located in the forward direction of the body 1 is the front end 15 of the body 1, and the side of the swing shaft 22 located away from the forward direction of the body 1 is the rear end 16 of the body 1.

[0066] In some embodiments, the bottom of the body 1 is provided with a first drive wheel 12 and a second drive wheel 13. The rotation axis of the first drive wheel 12 or the second drive wheel 13 is perpendicular to the forward direction of the body 1, and the axis of the swing shaft 22 and the rotation axis of the first drive wheel 12 or the second drive wheel 13 are coplanar in the vertical direction.

[0067] In some embodiments, the counterweight structure 2 is a fluid that can flow freely within the counterweight cavity 31, such as liquid or fine sand; or the counterweight structure 2 is a sliding element that can slide freely within the counterweight cavity 31, such as a slider; or the counterweight structure 2 is a rolling element that can roll freely within the counterweight cavity 31, such as a steel ball. Using a fluid, sliding element, or rolling element for counterweight facilitates the movement of the counterweight structure 2 within the counterweight cavity 31, thereby facilitating the shift of the center of gravity of the counterweight structure 2.

[0068] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0069] The above description is merely a specific embodiment of this utility model, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this utility model. Therefore, this utility model is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features of the utility model described herein.

Claims

1. A cleaning robot, characterized in that, The device includes a body, which has a counterweight cavity. A portion of the counterweight cavity is located at the front end of the body, and another portion is located at the rear end of the body. A counterweight structure is provided inside the counterweight cavity, and the counterweight structure is movable within the counterweight cavity. When the machine body switches from a non-obstacle-crossing state to an obstacle-crossing state, the center of gravity of the counterweight structure moves from the front end of the machine body toward the rear end of the machine body within the counterweight cavity; when the machine body switches from an obstacle-crossing state to a non-obstacle-crossing state, the center of gravity of the counterweight structure moves from the rear end of the machine body toward the front end of the machine body within the counterweight cavity.

2. The cleaning robot according to claim 1, characterized in that, The bottom of the machine body is provided with a first drive wheel and a second drive wheel. The front end of the machine body is located on the side where the rotation axis of the first drive wheel or the second drive wheel faces the forward direction of the machine body, and the rear end of the machine body is located on the side where the rotation axis of the first drive wheel or the second drive wheel is away from the forward direction of the machine body.

3. The cleaning robot according to claim 2, characterized in that, The bottom of the machine body is provided with casters, which are located at the front end of the machine body. The portion of the counterweight cavity located at the front end of the machine body is within the area enclosed by the casters, the first drive wheel, and the second drive wheel.

4. The cleaning robot according to claim 1 or 2, characterized in that, The bottom surface of the counterweight cavity includes a horizontal surface and an inclined surface. When the machine body is in a non-obstacle-crossing state, the horizontal surface is parallel to the ground, the inclined surface is connected to the horizontal surface, the inclined surface extends from the horizontal surface to the rear end of the machine body, and the end of the inclined surface connected to the horizontal surface is lower than the end of the inclined surface that is away from the horizontal surface.

5. The cleaning robot according to claim 4, characterized in that, The horizontal plane is located at the front end of the body, and a portion of the inclined plane is located at the front end of the body, while another portion is located at the rear end of the body.

6. The cleaning robot according to claim 1, characterized in that, The machine body is fixed with a counterweight chamber, which includes a bottom wall and a side wall. The side wall is arranged around the bottom wall along the edge of the bottom wall, and the area formed between the side wall and the bottom wall is the counterweight cavity.

7. The cleaning robot according to claim 1, characterized in that, The counterweight cavity includes a first cavity and a second cavity. The first cavity is located at the front end of the machine body, and the second cavity is located at the rear end of the machine body. A conveying channel connects the first cavity and the second cavity. The counterweight structure can move from the first cavity to the second cavity or from the second cavity to the first cavity through the conveying channel.

8. The cleaning robot according to claim 1, characterized in that, The counterweight structure includes a swing shaft, a swing arm, and counterweight components; The swing shaft is fixed inside the counterweight cavity, one end of the swing arm is rotatably connected to the swing shaft, and the counterweight is connected to the end of the swing arm away from the swing shaft; or The swing shaft is rotatably connected inside the counterweight cavity, one end of the swing arm is fixedly connected to the swing shaft, and the counterweight is connected to the end of the swing arm away from the swing shaft.

9. The cleaning robot according to claim 8, characterized in that, The axial direction of the swing shaft is perpendicular to the forward direction of the machine body. The side of the swing shaft located in the forward direction of the machine body is the front end of the machine body, and the side of the swing shaft located away from the forward direction of the machine body is the rear end of the machine body.

10. The cleaning robot according to claim 9, characterized in that, The bottom of the machine body is provided with a first drive wheel and a second drive wheel. The rotation axis of the first drive wheel or the second drive wheel is perpendicular to the forward direction of the machine body. The axis of the swing shaft and the rotation axis of the first drive wheel or the second drive wheel are coplanar in the vertical direction.

11. The cleaning robot according to claim 1 or 7, characterized in that, The counterweight structure is a fluid that can flow freely within the counterweight cavity, a sliding member that can slide freely within the counterweight cavity, or a rolling member that can roll freely within the counterweight cavity.

Images