A cleaning robot with automatically elevatable drive wheels

Abstract

This invention proposes a cleaning robot with automatically raising and lowering drive wheels, comprising a robot body, a handle assembly connected to the robot body, and a drive wheel assembly located below the robot body. It also includes a lifting mechanism connected to the drive wheel assembly and a triggering mechanism for sensing the movement of the handle assembly and controlling the lifting mechanism to drive the drive wheel assembly to switch between a raised and lowered state. This invention directly links the physical movement of the handle assembly with the raising and lowering state of the drive wheel assembly, achieving a seamless and intuitive switch between automatic and manual operation modes, greatly enhancing the human-machine interaction experience. By completely retracting the drive wheels, it innovatively endows the robot with the ability to be used as a handheld cleaning device, thus flexibly handling three-dimensional scenarios such as walls and mattresses that traditional robots cannot clean, achieving multi-functionality.

Description

[Technical Field]

[0001] This utility model relates to the field of cleaning robot technology, and in particular to a cleaning robot with automatically lifting and lowering drive wheels. [Background Technology]

[0002] Intelligent cleaning robots, such as robotic vacuum cleaners or bed cleaning robots, are widely used in the market, and their core function is to automatically perform cleaning tasks. However, in actual use, users often need to switch between the robot's "automatic working mode" and "manual operation mode." For example, when performing handheld spot cleaning on complex or three-dimensional surfaces such as walls, mattresses, and sofas that are not suitable for autonomous robot movement, users need to switch to manual operation mode.

[0003] In the existing technology, the drive wheel set of cleaning robots is usually a fixed wheel set or a wheel set with only simple elastic lifting function.

[0004] In the case of using a fixed wheel set, the drive wheel and the transmission mechanism are always connected, which causes users to feel great mechanical resistance when manually pushing the robot, making movement and operation extremely inconvenient.

[0005] The solution using flexible lifting wheel sets has a passive lifting function, which is used to overcome obstacles or adapt to uneven ground. It cannot actively and completely retract the drive wheels according to the user's intention to completely release mechanical resistance, and it also cannot well meet the needs of convenient manual operation.

[0006] In summary, existing cleaning robots have significant technological gaps in terms of how to conveniently and reliably switch between "automatic working mode" and "manual operation mode" based on user needs. Current fixed or flexible wheel designs result in a poor user experience when integrating these two modes, necessitating an innovative automatic lifting solution for the drive wheels. [Utility Model Content]

[0007] The purpose of this utility model is to provide a cleaning robot with automatically lifting drive wheels, aiming to solve the technical problems of existing cleaning robots such as inconvenience in switching between automatic working mode and manual operation mode, unintuitive human-computer interaction, and limited application scenarios.

[0008] This utility model is achieved through the following technical solution:

[0009] A cleaning robot with automatically lifting and lowering drive wheels includes a robot body, a handle assembly connected to the robot body, and a drive wheel assembly located below the robot body. It also includes:

[0010] The lifting mechanism is connected to the drive wheel assembly;

[0011] A triggering mechanism is used to sense the movement of the handle assembly and control the lifting mechanism to drive the drive wheel assembly to switch between the raised and lowered states.

[0012] As described above, a cleaning robot with automatically lifting drive wheels includes an upper shell and a chassis connected below the upper shell. The chassis has an opening for the drive wheel assembly to pass through.

[0013] The lower part of one side of the drive wheel assembly is rotatably connected to the chassis, and the other side can pass through the opening;

[0014] A support is fixedly mounted on the chassis, and the support is elastically connected to the upper part of the drive wheel assembly on the side away from the opening;

[0015] The lifting mechanism is mounted on the support, with one end connected to the side of the drive wheel assembly near the opening, so that the drive wheel assembly can move closer to or away from the upper shell;

[0016] The triggering mechanism is located between the handle assembly and the lifting mechanism, and is electrically connected to the lifting mechanism;

[0017] One end of the handle assembly is rotatably connected to the upper shell, and the other end is used for gripping. When the handle assembly rotates relative to the robot body, it can be coupled or decoupled from the triggering mechanism.

[0018] As described above, a cleaning robot with automatically lifting and lowering drive wheels includes a handle assembly comprising a first hinge portion at one end rotatably connected to the upper shell, a trigger portion extending from one side of the first hinge portion, and a trigger mechanism comprising a control board connected to the upper shell, the control board being electrically connected to the lifting mechanism and having a micro switch that can be coupled or decoupled from the trigger portion.

[0019] As described above, a cleaning robot with automatically lifting drive wheels includes a lifting mechanism comprising a drive motor located on one side of the support, the drive motor being connected to a lifting device, one end of which is connected to one side of the drive wheel assembly near the opening.

[0020] As described above, a cleaning robot with automatically lifting drive wheels has a lead screw motor as the drive motor, which includes an output shaft. The lifting device includes a sliding plate disposed on the output shaft. One end of a lifting member is fixed to one side of the sliding plate, and the other end of the lifting member is connected to one side of the drive wheel assembly near the opening.

[0021] As described above, a cleaning robot with automatically lifting drive wheels has a groove on the support. The lifting component includes a sleeve that is fitted into the groove. A pull cable is fitted inside the sleeve. One end of the pull cable is fixed to one side of the sliding plate, and the other end is connected to one side of the drive wheel assembly near the opening.

[0022] As described above, a cleaning robot with automatically lifting drive wheels includes a drive wheel body connected to a swing arm. The lower part of the swing arm away from the drive wheel body is provided with a second hinge portion that is rotatably connected to the chassis. The side of the swing arm away from the second hinge portion is provided with a driven connection portion that is connected to the lifting mechanism.

[0023] As described above, a cleaning robot with automatically lifting drive wheels has a support corresponding to the opening cover above the drive wheel assembly. The swing arm has a first elastic connection on the side away from the driven connection, and a second elastic connection on the inner side of the support. An elastic connector is provided between the two.

[0024] As described above, a cleaning robot with automatically lifting drive wheels has a first groove at the upper end of the upper shell for accommodating the handle assembly, and the first groove extends to the edge of the upper shell to provide a second groove for facilitating the movement of the handle assembly.

[0025] As described above, a cleaning robot with automatically lifting and lowering drive wheels has a locking mechanism between the handle assembly and the upper shell to maintain their relative positions.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] 1. This utility model directly and automatically links the user's operational intention, such as pulling or turning the handle, with the robot's drive wheel lifting and lowering. Users do not need to find a switch or set it through an app; they can seamlessly switch between manual and automatic modes simply through a natural action that conforms to behavioral logic, greatly improving the convenience and smoothness of operation.

[0028] 2. By raising and storing the drive wheel assembly in the body, the cleaning robot can be conveniently used as a handheld cleaning device for cleaning three-dimensional or complex surfaces that traditional floor robots cannot reach, such as walls, mattresses, and sofas. This expands the product from a single floor cleaning tool into a more comprehensive and multi-purpose cleaning tool, greatly enhancing its practical value.

[0029] 3. This utility model integrates the mode switching function into the core structure of the robot through an integrated linkage design. Compared with external switches or complex software settings, the mechanical and electrical linkage of this solution is more reliable and responds more quickly. [Attached Image Description]

[0030] To more clearly illustrate the technical solutions in the embodiments of the utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0031] Figure 1 This is a schematic diagram of the three-dimensional structure of this embodiment. Figure 1 ;

[0032] Figure 2 This is a schematic diagram of the three-dimensional structure of this embodiment. Figure 2 ;

[0033] Figure 3 This is an exploded structural diagram of this embodiment;

[0034] Figure 4 for Figure 2 sectional view along line AA;

[0035] Figure 5 This is a partial cross-sectional view of the internal structure of the drive wheel assembly in its stowed state in this embodiment;

[0036] Figure 6 This diagram illustrates the connection state between the handle assembly and the upper shell in automatic cleaning mode, as shown in this embodiment. Figure 1 ;

[0037] Figure 7 This diagram illustrates the connection state between the handle assembly and the upper shell in automatic cleaning mode, as shown in this embodiment. Figure 2 ;

[0038] Figure 8 For the corresponding Figure 6 A schematic diagram of the decomposed structure;

[0039] Figure 9 For the corresponding Figure 7 A schematic diagram of the decomposed structure;

[0040] Figure 10 for Figure 7 sectional view along line BB;

[0041] Figure 11 This is an exploded view of the handle assembly in this embodiment;

[0042] Figure 12 This is a schematic diagram of the connection structure between the lifting mechanism and the drive wheel assembly in this embodiment;

[0043] Figure 13 This is an exploded view of the lifting mechanism and drive wheel assembly in this embodiment. Figure 1 ;

[0044] Figure 14This is an exploded view of the lifting mechanism and drive wheel assembly in this embodiment. Figure 2 .

Detailed Implementation Methods

[0045] To make the objectives, technical solutions, and advantages of this utility model clearer, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that various changes or modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the protection scope of the claims of this utility model.

[0046] It should be noted that in the description of this utility model, the terms "connection," "setting," and "installation," 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0047] This embodiment provides a cleaning robot with automatically lifting drive wheels, aiming to solve the technical problems of inconvenient switching between manual and automatic operation modes and poor user experience in existing cleaning robots. By setting up an automatic lifting drive wheel system linked to the handle assembly, convenient and quick switching between manual and automatic cleaning modes is achieved, improving the product's practicality and user experience.

[0048] See attached document Figures 1 to 14 The cleaning robot of this embodiment includes a robot body, a handle assembly 20 connected to the robot body, and one or more drive wheel assemblies 30 located below the robot body. The specific number of drive wheel assemblies 30 depends on their structural form; in this embodiment, there are two. The robot also includes one or more lifting mechanisms 40 corresponding to the drive wheel assemblies 30, and an integrated trigger mechanism 50. The trigger mechanism 50 can sense the movement of the handle assembly 20 and control the lifting mechanism 40 to drive the drive wheel assemblies 30 to switch between a raised state and a lowered state.

[0049] In this embodiment, the lifting mechanism 40 is mechanically connected to the drive wheel assembly 30 and is responsible for performing the lifting and lowering actions of the drive wheel assembly 30. The triggering mechanism 50 serves as the control center, which can sense the user's operation on the handle assembly 20, such as lifting or rotating, and send a command to the lifting mechanism 40 based on the action, thereby driving the drive wheel assembly 30 to automatically switch between a raised state retracted within the robot body and a lowered state extended from the robot body, so as to realize the conversion between manual pushing mode and automatic working mode.

[0050] Furthermore, as a preferred embodiment, the robot body may specifically include an upper shell 11 and a chassis 12 connected to the lower part of the upper shell 11. The upper shell 11 and the chassis 12 together constitute the robot's external outline and internal housing space, and can be injection molded from conventional materials in the art such as ABS engineering plastics and composite materials. The chassis 12 is provided with one or more openings 121 corresponding to the drive wheel assembly 30, which provide a channel for the lifting and lowering movement of the drive wheel assembly 30.

[0051] One lower side of the drive wheel assembly 30 is rotatably connected to the chassis 12, allowing it to swing around this connection point. The other side can extend or retract through the opening 121. To ensure stable contact pressure between the drive wheel assembly 30 and the ground during descent, a support 60 is fixed to the chassis 12. This support 60 is elastically connected to the upper side of the drive wheel assembly 30 away from the opening 121. This elastic connection can be a metal tension spring, a rubber damping element, or a polyurethane buffer block, providing not only a flexible transition during the lifting and lowering of the drive wheel but also shock absorption and self-resetting functions when the robot encounters bumps.

[0052] The lifting mechanism 40 is mounted on the support 60, with one end connected to the side of the drive wheel assembly 30 near the opening 121. When the lifting mechanism 40 is in operation, it can drive the drive wheel assembly 30 to move closer to or further away from the upper shell 11, thus achieving lifting. The triggering mechanism 50 is disposed between the handle assembly 20 and the lifting mechanism 40, and is electrically connected to the lifting mechanism 40, forming a complete control link.

[0053] One end of the handle assembly 20 is rotatably connected to the upper shell 11, while the other end is convenient for the user to grip. When the user wants to switch from automatic mode to manual mode, they only need to rotate the handle assembly 20 upwards. This rotation will cause the handle assembly 20 to be physically contacted or separated from the trigger mechanism 50, creating coupling or decoupling. The trigger mechanism 50 then sends a control signal to activate the lifting mechanism 40 to raise and store the drive wheel assembly 30. At this time, the robot can switch to manual assisted cleaning mode. The reverse is also true.

[0054] Furthermore, to make the triggering process more reliable and precise, the handle assembly 20 includes a first hinge portion 21, which is used to achieve a rotatable connection between the handle assembly 20 and the upper shell 11. On one side of the first hinge portion 21, a trigger portion 22 is integrally extended, which can be designed as a protrusion or a lever of a specific shape. The triggering mechanism 50 includes a control board 51 fixed inside the upper shell 11 and a micro switch 52 thereon. The control board 51 integrates a microcontroller (MCU), responsible for receiving signals and issuing commands. The micro switch 52 is precisely arranged on the movement trajectory of the trigger portion 22. When the user lifts the handle assembly 20 from the lowered state (corresponding to the automatic cleaning mode) to a preset angle exceeding 30 degrees, the cam profile of the trigger portion 22 presses the contact of the micro switch 52, causing it to close or open, generating a clear level transition signal. The control board 51 captures this signal, causing the drive wheel assembly 30 to rise. Conversely, when the handle is lowered, the trigger 22 disengages, the micro switch 52 resets, and the control board 51 causes the drive wheel assembly 30 to descend.

[0055] Of course, for greater durability and reliability, the triggering mechanism can also take other forms. For example:

[0056] As an alternative implementation, the microswitch 52 can be replaced with a Hall effect sensor. In this case, a small permanent magnet is embedded in the trigger part 22, and the Hall sensor is installed at the corresponding position on the control board 51. When the handle is turned, the magnet moves closer to or away from the sensor, causing a change in the Hall potential, thereby achieving contactless switching control. This solution has no mechanical wear and can be completely sealed, unaffected by dust and moisture.

[0057] As an alternative implementation, the microswitch 52 can be replaced with a through-beam or reflective photoelectric sensor. In this case, the trigger 22 can be designed as a light-shielding plate. When the handle is rotated, the light-shielding plate inserts into or leaves the U-shaped groove of the photoelectric sensor, thereby blocking or opening the light path to achieve signal triggering. This solution also has the advantages of no wear and fast response speed.

[0058] Furthermore, as the core of the lifting function, the lifting mechanism 40 may specifically include a drive motor 41 located on one side of the support 60 and a lifting device 42. The drive motor 41 serves as a power source, with its output end connected to the lifting device 42. The other end of the lifting device 42 is connected to the side of the drive wheel assembly 30 near the opening 121, thereby converting the rotational motion of the motor into the linear motion of the drive wheel assembly.

[0059] Specifically, the drive motor 41 can preferably be a lead screw motor. The lead screw motor has its own output shaft 411, i.e., a lead screw, which has the advantages of precise transmission and good self-locking. In this case, the lifting device 42 can be designed accordingly to include a sliding plate 421 threadedly engaged with the output shaft 411, and a lifting member 422. One end of the lifting member 422 is fixed to the sliding plate 421, and the other end is connected to the drive wheel assembly 30. When the lead screw motor 41 is working, its output shaft 411 rotates, causing the sliding plate 421 to slide linearly along the axial direction, thereby lifting or releasing the drive wheel assembly 30 through the lifting member 422.

[0060] To ensure smoother and more stable movement of the lifting device, a corresponding slot 61 can be provided on the support 60. The lifting component 422 specifically includes a sleeve 4221 that can be locked into the slot 61, and a cable 4222 housed within the sleeve 4221. The cable 4222 can be made of stainless steel. One end of the cable 4222 is fixed to the sliding plate 421, and the other end passes through the sleeve 4221 and connects to the drive wheel assembly 30. This sleeve and cable design ensures effective transmission of lifting force, provides good guidance and protection, and has a reliable structure.

[0061] Furthermore, to achieve the raising and lowering of the drive wheel, the drive wheel assembly 30 can be specifically designed to include a drive wheel body 31 and a swing arm 32. See also... Figure 5 , Figures 12 to 14 The drive wheel body 31 can house a motor for robot walking, and is connected to one end of the swing arm 32. A second hinge 321 is located on the lower part of the side of the swing arm 32 away from the drive wheel body 31, through which it is rotatably connected to the chassis 12, forming a fulcrum for lifting and lowering. Simultaneously, a driven connection 322 is located on the other side of the swing arm 32 away from the second hinge 321, for connecting to the lifting device 42 of the lifting mechanism 40 to receive lifting power.

[0062] To provide auxiliary restoring force and increase driving smoothness, the support 60 can be designed to cover the drive wheel assembly 30 for protection and limiting. A first elastic connection 71 is provided on the side of the swing arm 32 away from the driven connection 322. The first elastic connection 71 can be a hook or a lug. A corresponding second elastic connection 72 is provided on the inner side of the support 60. The second elastic connection 72 can also be a hook or a lug. An elastic connector 73 is provided between the two. This elastic connector 73 can be a tension spring or a compression spring. When the drive wheel assembly 30 is pulled up by the lifting mechanism 40, the elastic connector 73 is stretched (or compressed), storing elastic potential energy. When the lifting mechanism 40 releases the tension, the elastic connector 73 releases energy, actively pushing the drive wheel assembly 30 to the lowered state, ensuring reliable restoring. Simultaneously, in automatic operation mode, the elastic connector 73 also serves as a suspension damping element.

[0063] Furthermore, based on the foregoing, those skilled in the art will understand that the lifting device 42 can also be implemented using other equivalent mechanical structures such as a rack and pinion structure or a cam-linkage structure. For example, in some possible embodiments, the drive motor 41 can be a common DC geared motor with a drive gear mounted on its output shaft. A guide rail is provided on the support 60, and a slider with a rack machined on it is slidably connected. The slider is connected to the driven connection part 322 of the swing arm 32 via a connecting rod. The rotation of the motor drives the gear, which in turn drives the rack to perform linear motion, thereby achieving lifting and lowering.

[0064] In other possible embodiments, the drive motor 41 can rotate a cam disk with a special profile. The profile of the cam disk is connected to the rocker arm 32 via a linkage mechanism. By designing the profile curve of the cam, very smooth and customized lifting and acceleration curves can also be achieved, enabling smooth start and stop.

[0065] Furthermore, the upper end of the upper shell 11 may be provided with a first groove 111 for accommodating the handle assembly 20. When the handle is in the retracted state, a part of its main body, such as the handle end, can sink into the first groove 111, reducing the overall height of the robot and improving space utilization. A second groove 112 may also be provided where the first groove 111 extends to the edge of the upper shell 11, facilitating the insertion of the user's fingers to move the handle assembly 20, thus improving operational convenience.

[0066] To further enhance product reliability and user experience, a locking mechanism can be added between the handle assembly 20 and the upper shell 11 to maintain their relative positions. This locking mechanism can lock the handle assembly 20 when it is in the retracted state (corresponding to automatic cleaning mode) or fully raised (corresponding to manual cleaning mode) to prevent it from shaking or moving accidentally.

[0067] As one specific implementation, the locking mechanism can be a spring-loaded latch mechanism. Please refer to [link / reference]. Figures 10 to 11 The handle assembly 20 can be assembled from a lower handle shell 23 and an upper handle shell 24, with its first hinge portion 21 located at the junction of the two or at one end of the lower handle shell 23. A receiving groove 231 is provided inside the lower handle shell 23 on the side near the first hinge portion 21. The locking mechanism includes a spring 81 located within the receiving groove 231, and the spring 81 is connected to a locking tongue 82. Correspondingly, a movable groove 241 for the extension and retraction of the locking tongue 82 is provided on the upper handle shell 24. Correspondingly, a locking groove 1111 is formed on the groove wall of the first groove 111, which can engage with the end of the locking tongue 82. When the user applies a downward force to the handle assembly 20 and presses it into the first groove 111, the end of the locking tongue 82 will first be pressed back by the edge of the first groove. After it has moved into place, it will pop out into the locking groove 1111 under the action of the spring 81, thus unlocking. Conversely, when the user applies an upward force to the handle assembly 20 and removes it from the first groove 111, the end of the locking tongue 82 will first be pressed back by the edge of the first groove. After it has moved into place, it will spring into the locking groove 1111 under the action of the spring 81, thus locking. In addition, in order to make the locking tongue 82 engage and disengage more smoothly, its end is preferably rounded or chamfered. Those skilled in the art will know that the locking mechanism can also be implemented by other methods such as magnetic attraction or friction damping.

[0068] Furthermore, to make the rotation and return of the handle assembly 20 more precise, the upper shell 11 is provided with a limiting plate 90 along one edge of the first groove 111, and the limiting plate 90 is provided with a guide notch 91. Correspondingly, on the side of the upper handle shell 24 facing the first hinge part 21, there is a guide protrusion 243 that can be matched and connected with the guide notch 91. The guide notch 91 is preferably V-shaped, and the shape of the guide protrusion 243 is also matched accordingly. When the user closes and fully lifts the handle assembly 20 (corresponding to the manual cleaning mode), the guide protrusion 242 on it will first contact the V-shaped guide notch 91, and the V-shaped slope will automatically guide the guide protrusion 242 to slide to the correct position, thereby ensuring that the closing trajectory of the entire handle assembly 20 is accurate and error-free, and finally enabling the locking tongue 82 to be accurately aligned and spring into the locking groove 1111, which greatly improves the reliability of locking and the smoothness of operation.

[0069] In summary, the cleaning robot of this embodiment can switch between the following three states: First, normal driving state—the handle assembly 20 is stored in the first groove 111, the micro switch 52 maintains its initial contact, and the drive wheel assembly 30 is at the raised height to provide a stable driving clearance for the cleaning robot in automatic cleaning mode; Second, lifting preparation state—the user lifts the handle assembly 20 through the second groove 112 and unlocks it, the trigger part 22 presses the micro switch 52, the control board 51 drives the lead screw motor to rotate forward, and the drive wheel assembly 30 descends accordingly. At this time, the cleaning robot is in manual cleaning mode, and the user can manually intervene to perform point cleaning on certain areas to be cleaned, such as walls or bed surfaces; Third, placement and recovery state—when the user moves the robot to the target position and releases the handle assembly 20, and then presses down on the handle assembly to unlock it, the micro switch 52 resets, the control board 51 causes the lead screw motor to reverse, and the drive wheel assembly 30 rises back to the preset driving height. Because the lead screw motor itself has good self-locking characteristics, even if there is a sudden power failure, the drive wheel assembly 30 will not sink unexpectedly due to gravity.

[0070] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. For those skilled in the art, various equivalent modifications or additions can be made using the disclosed technical content without departing from the spirit and scope of the present utility model, or similar methods can be used as substitutes, all of which will fall within the protection scope of the present utility model.

Claims

1. A cleaning robot with automatically liftable driving wheels, comprising a robot body, a handle assembly (20) connected with the robot body, and a driving wheel assembly (30) arranged below the robot body, characterized in that, Also includes: A lifting mechanism (40) is connected to the drive wheel assembly (30); A triggering mechanism (50) is used to sense the movement of the handle assembly (20) and control the lifting mechanism (40) to drive the drive wheel assembly (30) to switch between the raised state and the lowered state.

2. The cleaning robot of claim 1, wherein, The robot body includes an upper shell (11), and a chassis (12) is connected below the upper shell (11). The chassis (12) has multiple openings (121) for the drive wheel assembly (30) to pass through. The lower part of one side of the drive wheel assembly (30) is rotatably connected to the chassis (12), and the other side can pass through the opening (121). A support (60) is fixedly provided on the chassis (12), and the support (60) is elastically connected to the upper part of the drive wheel assembly (30) away from the opening (121); The lifting mechanism (40) is mounted on the support (60), and one end of it is connected to the side of the drive wheel assembly (30) near the opening (121) so that the drive wheel assembly (30) can move closer to or away from the upper shell (11). The triggering mechanism (50) is located between the handle assembly (20) and the lifting mechanism (40), and is electrically connected to the lifting mechanism (40); One end of the handle assembly (20) is rotatably connected to the upper shell (11), and the other end is used for gripping. When the handle assembly (20) rotates relative to the robot body, it can be coupled or decoupled from the trigger mechanism (50).

3. A cleaning robot with automatically lifting drive wheels according to claim 2, characterized in that, The handle assembly (20) includes a first hinge portion (21) located at one end and rotatably connected to the upper shell (11). A trigger portion (22) extends from one side of the first hinge portion (21). The trigger mechanism (50) includes a control plate (51) connected to the upper shell (11). The control plate (51) is electrically connected to the lifting mechanism (40) and is provided with a micro switch (52) that can be coupled or decoupled from the trigger portion (22).

4. The cleaning robot of claim 2, wherein, The lifting mechanism (40) includes a drive motor (41) located on one side of the support (60), and the drive motor (41) is connected to a lifting device (42). One end of the lifting device (42) is connected to one side of the drive wheel assembly (30) near the opening (121).

5. The cleaning robot of claim 4, wherein, The drive motor (41) is a lead screw motor, which includes an output shaft (411). The lifting device (42) includes a sliding plate (421) disposed on the output shaft (411). One end of a lifting member (422) is fixed on one side of the sliding plate (421), and the other end of the lifting member (422) is connected to one side of the drive wheel assembly (30) near the opening (121).

6. The cleaning robot of claim 5, wherein, The support (60) has a groove (61) and the lifting member (422) includes a sleeve (4221) that is fitted into the groove (61). A cable (4222) is fitted inside the sleeve (4221). One end of the cable (4222) is fixed to one side of the sliding plate (421) and the other end is connected to one side of the drive wheel assembly (30) near the opening (121).

7. The cleaning robot with automatically liftable driving wheels according to any one of claims 2-6, characterized in that, The drive wheel assembly (30) includes a drive wheel body (31), the drive wheel body (31) is connected to a swing arm (32), the lower part of the swing arm (32) away from the drive wheel body (31) is provided with a second hinge part (321) rotatably connected to the chassis (12), and the side of the swing arm (32) away from the second hinge part (321) is provided with a driven connection part (322) connected to the lifting mechanism (40).

8. The cleaning robot of claim 7, wherein, The support (60) is covered above the drive wheel assembly (30) corresponding to the opening (121). The swing arm (32) is provided with a first elastic connection (71) on the side away from the driven connection (322), and a second elastic connection (72) is provided on the inner side of the support (60). An elastic connector (73) is provided between the two.

9. The cleaning robot of claim 3, wherein, The upper end of the upper shell (11) is provided with a first groove (111) that can accommodate the handle assembly (20), and the first groove (111) extends to the edge of the upper shell (11) and is provided with a second groove (112) that facilitates the movement of the handle assembly (20).

10. The cleaning robot of claim 9, wherein, A locking mechanism is provided between the handle assembly (20) and the upper shell (11) to maintain their relative state.

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