Roller mechanism, moving chassis of cleaning robot and cleaning robot

Abstract

The application relates to a roller mechanism of a cleaning robot, a moving chassis and the cleaning robot. The roller mechanism comprises a mounting bracket, a roller assembly and an expandable member; the mounting bracket is rotatably arranged on the mounting bracket through a rotating shaft; the expandable member is connected between the mounting bracket and the roller assembly and can expand in the axial direction to push the roller assembly to rotate around the rotating shaft to perform lifting operation or steering operation. The roller mechanism can inject gas / liquid into the expandable member based on the axial expansion characteristics of the expandable member, so that the expandable member can expand in the axial direction, and then push the walking wheel assembly or the steering wheel assembly to rotate around the rotating shaft to perform lifting operation or steering operation. The whole lifting operation or steering operation does not need to cooperate with a steering engine and a complex transmission mechanism, the structure of the cleaning robot can be simplified, and the manufacturing cost of the cleaning robot can be reduced.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and in particular to a roller mechanism, mobile chassis, and cleaning robot for a cleaning robot. Background Technology

[0002] With the continuous improvement of people's living standards, the application of smart home appliances is becoming increasingly widespread, and they have a very broad market prospect. Cleaning robots, also known as automatic cleaning machines, intelligent vacuum cleaners, or robotic vacuum cleaners, are a type of smart home appliance that can automatically clean floors in a room using a certain level of artificial intelligence. They generally use a combination of brushing and vacuuming to suck up debris from the floor into their own dustbin, thus completing the floor cleaning function.

[0003] Cleaning robots are typically equipped with servo motors, which can drive the walking wheels to rise and fall to overcome obstacles such as thresholds and carpets during operation, preventing them from getting stuck and ensuring continuous cleaning. They can also drive the steering wheels to turn, and adjust their path after sensing boundaries or obstacles through sensors, achieving comprehensive cleaning coverage, avoiding repetition or omissions, and improving cleaning efficiency.

[0004] However, the servo motors of existing cleaning robots are usually installed far from the walking wheels or steering wheels (i.e., remote placement), requiring a more complex transmission mechanism to transmit power, resulting in a more complex structure and increased manufacturing costs. Utility Model Content

[0005] Therefore, it is necessary to provide a roller mechanism, a mobile chassis, and a cleaning robot to address the above problems.

[0006] A roller mechanism for a cleaning robot includes:

[0007] Mounting bracket;

[0008] The roller assembly is rotatably mounted on the mounting bracket via a rotating shaft; and

[0009] An expandable component is connected between the mounting bracket and the roller assembly, and is capable of expanding along its own axis to push the roller assembly to rotate around the pivot for lifting or turning operations.

[0010] In one embodiment, the inflatable element is an inflatable or deflatable airbag.

[0011] In one embodiment, the roller mechanism further includes an air pump capable of inflating or deflating the expandable member.

[0012] In one embodiment, the roller mechanism further includes an air pipe connected to the expandable member and the air pump.

[0013] In one embodiment, the expandable component includes an expandable body, a first mounting portion, and a second mounting portion;

[0014] The expandable body is a bellows and has a first end and a second end opposite to each other;

[0015] The first mounting part is located at the first end of the expandable body and is connected to the mounting bracket;

[0016] The second mounting portion is located at the second end of the expandable body and is connected to the roller assembly.

[0017] In one embodiment, a first ear plate protrudes from the outer peripheral surface of the first mounting portion, and the first ear plate is connected to the mounting bracket by a first threaded component; and / or

[0018] The second mounting portion has a second ear plate protruding towards the roller assembly, and the roller assembly has a third ear plate protruding towards the second mounting portion. The third ear plate is connected to the second ear plate by a second threaded component.

[0019] In one embodiment, the expandable component is made of at least one of natural rubber, neoprene rubber, silicone rubber, and thermoplastic elastomer.

[0020] In one embodiment, the roller assembly is a walking wheel assembly or a steering wheel assembly.

[0021] A mobile chassis for a cleaning robot includes a bottom shell and a roller mechanism as described in any of the above claims, wherein a mounting bracket for the roller mechanism is connected to the bottom shell.

[0022] A cleaning robot includes a mobile chassis as described above.

[0023] The roller mechanism, mobile chassis, and cleaning robot described above have at least the following beneficial effects:

[0024] (1) Based on the characteristic that the expandable part can expand axially, gas / liquid is injected into the expandable part so that the expandable part can expand axially, thereby driving the walking wheel assembly or steering wheel assembly to rotate around the rotating shaft to perform lifting or steering operations. The entire lifting or steering operation does not require the cooperation of a servo motor and a complex transmission mechanism, which can simplify the structure of the cleaning robot and reduce the manufacturing cost of the cleaning robot.

[0025] (2) Existing cleaning robots usually have a gearbox assembly because they require a large lifting force due to their large weight, which makes the structure more complex. The lifting method used in this application does not require a gearbox assembly to provide a large lifting force. It only requires injecting gas / liquid at a preset pressure into the expandable part, which further simplifies the structure of the cleaning robot and reduces the manufacturing cost of the cleaning robot. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the roller mechanism of a cleaning robot provided in an embodiment of this application, with the expandable part in an expanded state.

[0027] Figure 2 This is a schematic diagram of the roller mechanism of a cleaning robot provided in an embodiment of this application, with the expandable part in a retracted state.

[0028] Figure 3 This is a schematic diagram of the roller mechanism of a cleaning robot provided in another embodiment of this application.

[0029] Figure 4 This is a schematic diagram of the roller mechanism of a cleaning robot provided in another embodiment of this application.

[0030] Figure 5 This is a schematic diagram of the roller mechanism of a cleaning robot provided in another embodiment of this application.

[0031] Figure 6 This is a cross-sectional view of the expandable component of a roller mechanism provided in an embodiment of this application in an expanded state.

[0032] Figure 7 This is a cross-sectional view of the expandable component of a roller mechanism provided in an embodiment of this application in a contracted state.

[0033] The attachment numbers are explained as follows:

[0034] 10. Roller mechanism; 100. Mounting bracket; 200. Roller assembly; 201. Traveling wheel assembly; 2011. Traveling wheel body; 2012. Traveling wheel frame; 202. Steering wheel assembly; 2021. Steering wheel body; 2022. Steering wheel frame; 210. Shaft; 220. Second ear plate; 300. Expandable part; 310. Expandable body; 320. First mounting part; 321. First ear plate; 320a. Air inlet / outlet; 330. Second mounting part; 331. Second ear plate; 400. Air pump; 500. Air pipe. Detailed Implementation

[0035] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0036] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0041] like Figure 1 As shown, one embodiment of this application provides a roller mechanism 10 for a cleaning robot. The roller mechanism 10 includes a mounting bracket 100, a roller assembly 200, and an expandable member 300. The roller assembly 200 is rotatably mounted on the mounting bracket 100 via a rotating shaft 210. The expandable member 300 is connected between the mounting bracket 100 and the roller assembly 200, and can extend and retract along its own axis to push the roller assembly 200 to rotate around the rotating shaft 210 for lifting or turning operations.

[0042] Mounting bracket 100 is used to mount roller assembly 200 onto the bottom shell of cleaning robot, and its structure can be configured according to the specific type of roller assembly 200.

[0043] Among them, such as Figure 1 and Figure 2 As shown, the roller assembly 200 can be a walking wheel assembly 201. The walking wheel assembly 201 is used to drive the bottom shell of the cleaning robot to move. During the movement, the walking wheel assembly 201 can rotate around the pivot 210 to lift the bottom shell of the cleaning robot, so that the cleaning robot can cross obstacles such as thresholds and carpets, and ensure the continuous cleaning of the cleaning robot.

[0044] The axial expansion characteristic of the expandable component 300 can be used to lift the traveling wheel assembly 201. For example... Figure 1As shown, when the walking wheel assembly 201 needs to be lifted, the expandable component 300 can be axially expanded by injecting air / liquid. The axially expanded expandable component 300 then pushes the walking wheel assembly 201 to rotate counterclockwise around the pivot 210, thereby achieving lifting. The expandable component 300 also needs to have a rebound capability. When the cleaning robot crosses obstacles such as thresholds or carpets, the expandable component 300 can be axially rebounded by venting air / liquid to reset itself.

[0045] like Figure 1 and Figure 2 As shown, the traveling wheel assembly 201 may include a traveling wheel body 2011 and a traveling wheel frame 2012. The traveling wheel frame 2012 is connected to the expandable member 300. The traveling wheel body 2011 is rotatably mounted on the traveling wheel frame 2012 via a traveling wheel axle, wherein the traveling wheel axle is parallel to the rotating shaft member 210. In one embodiment, as... Figure 1 As shown, the mounting bracket 100 can be roughly inverted "L" shape. The horizontal part of the mounting bracket 100 is connected to the bottom shell of the cleaning robot, and the vertical part of the mounting bracket 100 is connected to the wheel frame 2012 of the walking wheel assembly 201 through the pivot 210.

[0046] like Figure 3 As shown, the roller assembly 200 can also be a steering wheel assembly 202. When the cleaning robot's sensors detect the boundary or obstacle, the steering wheel assembly 202 can rotate around the pivot 210, thereby changing the orientation of the bottom shell to adjust the cleaning robot's travel path, achieve full coverage cleaning, avoid repetition or omissions, and improve cleaning efficiency.

[0047] Similarly, the axial expansion characteristic of the expandable component 300 can be used to achieve steering of the steering wheel assembly 202. For example... Figure 3 As shown, when the steering wheel assembly 202 needs to perform a steering operation, the expandable component 300 can be axially expanded by injecting air / liquid. The axially expanded expandable component 300 then pushes the steering wheel assembly 202 to rotate around the pivot 210, thereby achieving steering. The expandable component 300 also needs to have a rebound capability. When the cleaning robot needs to be straightened after completing the steering, the expandable component 300 can be axially rebounded by venting air / liquid to reset it.

[0048] Considering that cleaning robots need to move in different directions, such as Figure 3As shown, two expandable members 300 are provided, located on opposite sides of the steering wheel assembly 202. One expandable member 300 can push the steering wheel assembly 202 to rotate counterclockwise around the pivot 210 through its own axial expansion, while the other expandable member 300 can push the steering wheel assembly 202 to rotate clockwise around the pivot 210 through its own axial expansion. The two expandable members 300 can realize the counterclockwise and clockwise rotation of the steering wheel assembly 202. In this embodiment, the cleaning robot can be equipped with one steering wheel assembly 202.

[0049] Of course, in some other implementations, such as Figure 4 and Figure 5 As shown, the cleaning robot may be equipped with two steering wheel assemblies 202, one of which can rotate counterclockwise and the other can rotate clockwise, and each steering wheel assembly 202 is equipped with an expandable member 300.

[0050] like Figures 3 to 5 As shown, the steering wheel assembly 202 may include a steering wheel body 2021 and a steering wheel frame 2022. The steering wheel frame 2022 is connected to the expandable member 300. The steering wheel body 2021 is rotatably mounted on the steering wheel frame 2022 via a steering wheel axle, wherein the steering wheel axle is perpendicular to the rotating shaft member 210.

[0051] In one embodiment, such as Figures 3 to 5 As shown, the mounting bracket 100 can be roughly in the shape of a "I". The top surface of the mounting bracket 100 is connected to the bottom shell of the cleaning robot, and the bottom surface of the mounting bracket 100 is connected to the steering wheel frame 2022 of the steering wheel assembly 202 through the rotating shaft 210.

[0052] As can be seen, this application utilizes the axially expandable characteristic of the expandable component 300 by injecting gas / liquid into it, enabling the expandable component 300 to expand axially. This, in turn, drives the walking wheel assembly 201 or the steering wheel assembly 202 to rotate around the pivot 210, thus performing lifting or steering operations. The entire lifting or steering operation does not require the cooperation of a servo motor and a complex transmission mechanism, simplifying the structure of the cleaning robot and reducing its manufacturing cost. Furthermore, existing cleaning robots, considering their large weight and the need for significant lifting force, typically incorporate a gearbox assembly, which further complicates the structure. The lifting method employed in this application, however, eliminates the need for a gearbox assembly to provide a large lifting force; it only requires injecting gas / liquid at a preset pressure into the expandable component 300. This further simplifies the structure of the cleaning robot and reduces its manufacturing cost.

[0053] As described above, the expandable component 300 can expand axially by injecting gas / liquid. Compared to liquid injection, gas injection is not only safer—even if leakage occurs, it will not damage the components of the cleaning robot—but it also eliminates the need for a liquid reservoir on the robot's bottom shell. Atmospheric air can be directly injected into the expandable component 300, further simplifying the robot's structure and reducing its weight. Therefore, gas injection is preferred for axial expansion of the expandable component 300. Accordingly, in some embodiments of this application, the expandable component 300 is an inflatable or deflatable airbag. It should be noted that the airbag has a certain degree of elasticity, allowing it to expand and contract axially.

[0054] Furthermore, such as Figure 1 and Figure 2 As shown, the roller mechanism 10 also includes an air pump 400, which can inflate or depress the expandable member 300. Taking the walking wheel assembly 201 as an example, when the walking wheel assembly 201 needs to be lifted, the air pump 400 can pump gas (such as atmospheric air) into the expandable member 300, causing the expandable member 300 to expand axially, thereby pushing the walking wheel assembly 201 to rotate around the pivot 210; when it is necessary to reset or lower the height of the cleaning robot, the air pump 400 can extract the gas from the expandable member 300, causing the expandable member 300 to contract axially, thereby pushing the walking wheel assembly 201 to rotate around the pivot 210. The air pump 400 facilitates the axial expansion or contraction of the expandable member 300, and facilitates the lifting of the walking wheel assembly 201.

[0055] Furthermore, such as Figure 1 and Figure 2 As shown, the roller mechanism 10 also includes an air pipe 500, which is connected to the expandable component 300 and the air pump 400. The air pump 400 can pump gas into or extract gas from the expandable component 300 through the air pipe 500. The air pump 400 can be flexibly arranged at any position inside the bottom shell of the cleaning robot through the air pipe 500, reducing the design difficulty of the cleaning robot. As an example, the air pump 400 is located on the bottom shell of the cleaning robot and away from the roller body of the roller assembly 200.

[0056] Optionally, the air tube 500 can be a flexible tube, such as a rubber hose. The air tube 500 can be bent into any shape, making the arrangement of the air pump 400 more flexible and reducing the impact of the air tube 500 on the position of the air pump 400. The air tube 500 can be fixed to the air pump 400 and the expandable component 300 by means of rigid fit or adhesive bonding, and this application does not limit this.

[0057] In other examples, the expandable element is a liquid reservoir that can be injected or drawn from, and the roller mechanism also includes a liquid pump and a liquid pipe connected to the expandable element and the liquid pump, wherein the liquid pump can inject or draw liquid into the expandable element through the liquid pipe.

[0058] like Figure 1 , Figure 6 and Figure 7 As shown, in some embodiments of this application, the expandable component 300 includes an expandable body 310, a first mounting portion 320, and a second mounting portion 330. The expandable body 310 is a corrugated tube and has opposing first and second ends. The first mounting portion 320 is disposed at the first end of the expandable body 310 and connected to the mounting bracket 100. The second mounting portion 330 is disposed at the second end of the expandable body 310 and connected to the roller assembly 200. By making the body of the expandable component 300 a corrugated tube, the expandable component 300 has a high expansion ratio, allowing it to be arranged in a confined space.

[0059] The cross-section of the expandable body 310 can be circular, elliptical, or irregular, facilitating its placement within the compact space of the cleaning robot's base. Larger driving forces can also be achieved by flexibly adjusting the cross-sectional area of ​​the expandable body 310. That is, with a fixed input pressure from the air pump 400, increasing the cross-sectional area of ​​the expandable body 310 increases the thrust on the walking wheel assembly 201 or the steering wheel assembly 202, without increasing the overall height of the expandable body 310.

[0060] Considering that the cleaning robot requires a large lifting force due to its significant weight, a sufficient amount of gas needs to be injected into the expandable component 300 to provide a large lifting force. Therefore, the expandable component 300 should be made of a special material to prevent rupture under high pressure and to allow for repeated use. In one embodiment, the expandable body 310 is made of at least one of natural rubber, neoprene rubber, silicone rubber, and thermoplastic elastomers.

[0061] Natural rubber, with its excellent elasticity and flexibility, can withstand repeated expansion and contraction without easily breaking, making it suitable for manufacturing reusable airbags.

[0062] In addition to its good elasticity, chloroprene rubber also has the advantages of wear resistance, aging resistance, and chemical corrosion resistance. It can maintain stable performance under different environmental conditions and can be used to manufacture airbags that need to be reused.

[0063] Silicone rubber has excellent high and low temperature resistance, as well as good elasticity and physiological inertness. It can maintain good shape and performance during repeated contraction and expansion. It is often used in airbags that have requirements for environmental temperature or high material safety.

[0064] Thermoplastic elastomers (TPEs) combine the properties of plastics and rubber, exhibiting good elasticity, flexibility, and processability. They are recyclable and suitable for manufacturing reusable airbags.

[0065] The first mounting part 320 is used not only to mount the expandable component 300 onto the mounting bracket 100, but also to seal the first end port of the expandable body 310, wherein, for example Figure 6 and Figure 7 As shown, the side of the first mounting part 320 has an air inlet / outlet 320a, which is connected to the air pipe 500 or directly to the air pump 400. To facilitate connection between the first mounting part 320 and the mounting bracket 100, the first mounting part 320 can be made of a rigid material, such as plastic.

[0066] Optionally, such as Figure 1 As shown, a first ear plate 321 protrudes from the outer peripheral surface of the first mounting part 320. The first ear plate 321 is connected to the mounting bracket 100 by a first threaded component. This arrangement facilitates the removal of the expandable part 300 from the mounting bracket 100. The first ear plate 321 has a first through hole, and the mounting bracket 100 has a threaded hole opposite to the first through hole. The first threaded component passes through the first through hole and is threaded into the threaded hole. The first threaded component can be a bolt, screw, or other threaded component.

[0067] The second mounting portion 330 is used not only to mount the expandable member 300 onto the wheel assembly 201 or the steering wheel assembly 202, but also to seal the second end port of the expandable body 310. To facilitate connection between the second mounting portion 330 and the wheel assembly 201 or the steering wheel assembly 202, the second mounting portion 330 can be made of a rigid material, such as plastic.

[0068] Optionally, such as Figure 1As shown, the second mounting portion 330 has a second ear plate 331 protruding towards the roller assembly 200, and the roller assembly 200 has a third ear plate 220 protruding towards the second mounting portion 330. The third ear plate 220 is connected to the second ear plate 331 by a second threaded component. This arrangement facilitates the removal of the expandable component 300 from the traveling wheel assembly 201 or the steering wheel assembly 202. The second threaded component may include a screw and a nut. The second ear plate 331 has a second through hole, and the third ear plate 220 has a third through hole. The screw passes through the second and third through holes and is threaded to the nut. There may be two second ear plates 331, with the third ear plate 220 positioned between the two second ear plates 331; or, there may be two third ear plates 220, with the second ear plates 331 positioned between the two third ear plates 220.

[0069] On the other hand, one embodiment of this application provides a mobile chassis for a cleaning robot, the mobile chassis including a bottom shell and a roller mechanism 10 as described in any of the above claims, wherein the mounting bracket 100 of the roller mechanism 10 is connected to the bottom shell.

[0070] This application utilizes the axially expandable characteristic of the expandable component 300 by injecting gas / liquid into it, enabling the expandable component 300 to expand axially. This, in turn, drives the walking wheel assembly 201 or the steering wheel assembly 202 to rotate around the pivot 210, thus performing lifting or steering operations. The entire lifting or steering operation does not require the use of servo motors or complex transmission mechanisms, simplifying the structure of the cleaning robot and reducing its manufacturing cost. Furthermore, existing cleaning robots, considering their large weight and the need for significant lifting force, typically incorporate a gearbox assembly, which further complicates the structure. The lifting method employed in this application eliminates the need for a gearbox assembly to provide sufficient lifting force; simply injecting gas / liquid at a preset pressure into the expandable component 300 is sufficient. This further simplifies the structure of the cleaning robot and reduces its manufacturing cost.

[0071] The roller mechanism 10 can be configured as multiple units, one of which is a traveling wheel assembly 201, and the remaining part is a steering wheel assembly 202. One of the traveling wheel assembly 201 and the steering wheel assembly 202 is located on the front side of the base shell, and the other is located on the rear side of the base shell. Here, "front side" refers to the side in front of the moving chassis in the forward direction, and "rear side" refers to the side behind the moving chassis in the forward direction.

[0072] On the other hand, this application also provides a cleaning robot, which includes the mobile chassis described above.

[0073] This application utilizes the axially expandable characteristic of the expandable component 300 by injecting gas / liquid into it, enabling the expandable component 300 to expand axially. This, in turn, drives the walking wheel assembly 201 or the steering wheel assembly 202 to rotate around the pivot 210, thus performing lifting or steering operations. The entire lifting or steering operation does not require the use of servo motors or complex transmission mechanisms, simplifying the structure of the cleaning robot and reducing its manufacturing cost. Furthermore, existing cleaning robots, considering their large weight and the need for significant lifting force, typically incorporate a gearbox assembly, which further complicates the structure. The lifting method employed in this application eliminates the need for a gearbox assembly to provide sufficient lifting force; simply injecting gas / liquid at a preset pressure into the expandable component 300 is sufficient. This further simplifies the structure of the cleaning robot and reduces its manufacturing cost.

[0074] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A roller mechanism for a cleaning robot, characterized in that, include: Mounting bracket; The roller assembly is rotatably mounted on the mounting bracket via a rotating shaft. as well as An expandable component is connected between the mounting bracket and the roller assembly, and is capable of expanding along its own axis to push the roller assembly to rotate around the pivot for lifting or turning operations.

2. The roller mechanism according to claim 1, characterized in that, The expandable component is an inflatable or deflatable airbag, or a liquid reservoir that can be injected or deflated.

3. The roller mechanism according to claim 2, characterized in that, The roller mechanism also includes an air pump, which is capable of inflating or deflating the expandable component. Alternatively, the roller mechanism may further include a liquid pump capable of injecting or pumping liquid into the expandable component.

4. The roller mechanism according to claim 3, characterized in that, The roller mechanism also includes an air pipe, which is connected to the expandable component and the air pump. The air pump inflates or deflates the expandable component through the air pipe. Alternatively, the roller mechanism may further include a liquid pipe connected to the expandable component and the pump, wherein the pump injects or pumps liquid into the expandable component through the liquid pipe.

5. The roller mechanism according to any one of claims 1 to 4, characterized in that, The expandable component includes an expandable main body, a first mounting part, and a second mounting part; The expandable body is a bellows and has a first end and a second end opposite to each other; The first mounting part is located at the first end of the expandable body and is connected to the mounting bracket; The second mounting portion is located at the second end of the expandable body and is connected to the roller assembly.

6. The roller mechanism according to claim 5, characterized in that, The outer peripheral surface of the first mounting part is provided with a first ear plate, and the first ear plate is connected to the mounting bracket by a first threaded component. And / or, the second mounting portion has a second ear plate protruding toward the roller assembly, and the roller assembly has a third ear plate protruding toward the second mounting portion, the third ear plate being connected to the second ear plate by a second threaded component.

7. The roller mechanism according to any one of claims 1 to 4, characterized in that, The expandable component is made of one or more of the following materials: natural rubber, neoprene rubber, silicone rubber, and thermoplastic elastomers.

8. The roller mechanism according to any one of claims 1 to 4, characterized in that, The roller assembly is either a traveling wheel assembly or a steering wheel assembly.

9. A mobile chassis for a cleaning robot, characterized in that, It includes a base and a roller mechanism as described in any one of claims 1 to 8, wherein the mounting bracket of the roller mechanism is connected to the base.

10. A cleaning robot, characterized in that, Includes the mobile chassis as described in claim 9.

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