抬升机构、清洁机器人及清洁系统

Abstract

本公开涉及一种抬升机构、清洁机器人、清洁系统，抬升机构应用于清洁机器人，抬升机构用于在清洁机器人遇到障碍物时，带动清洁机器人的本体的一侧抬升，以便于越过障碍物，抬升机构包括：行走组件、驱动组件和传动组件；行走组件包括：驱动轮壳体和转动设置于驱动轮壳体的驱动轮，驱动轮支撑于目标面，并用于驱动清洁机器人移动，驱动轮壳体通过第一转轴转动连接于本体；驱动组件与传动组件连接，驱动组件用于驱动传动组件运动；传动组件在驱动组件的驱动下由第一位置运动至第二位置，传动组件在由第一位置运动至第二位置的过程中，向驱动轮壳体施加朝向所述目标面的作用力，使驱动轮壳体绕第一转轴沿第一转向转动，以带动本体的一侧相对目标面抬升。本公开实施方式中的抬升机构能实现清洁机器人的抬升功能，可有效提升清洁机器人的越障能力。

Claims

1. A lifting mechanism applied to a cleaning robot, characterized in that, The lifting mechanism is used to lift one side of the cleaning robot body when the cleaning robot encounters an obstacle, so as to facilitate passing over the obstacle. The lifting mechanism includes: a walking component, a driving component, and a transmission component. The walking assembly includes: a drive wheel housing and a drive wheel rotatably disposed in the drive wheel housing. The drive wheel is supported on the target surface and is used to drive the cleaning robot to move. The drive wheel housing is rotatably connected to the body via a first rotating shaft. The drive component is connected to the transmission component, and the drive component is used to drive the transmission component to move. The transmission assembly moves from a first position to a second position under the drive of the drive assembly. During the movement from the first position to the second position, the transmission assembly applies a force toward the target surface to the drive wheel housing, causing the drive wheel housing to rotate around the first axis in a first direction, thereby lifting one side of the body relative to the target surface.

2. The lifting mechanism according to claim 1, wherein during the process of the transmission component moving from the first position to the second position, the transmission component applies a force toward the target surface to the drive wheel housing by abutting against the drive wheel housing or sliding relative to the drive wheel housing.

3. The lifting mechanism of claim 2, the transmission assembly comprising: A force-applying component, which moves from the first position to the second position under the drive of the drive assembly, to abut against the drive wheel housing or slide relative to the drive wheel housing.

4. The lifting mechanism of claim 3, the transmission assembly further comprising: A transmission component is connected to the force-applying component. The transmission component moves under the drive of the drive assembly and drives the force-applying component to move.

5. The lifting mechanism of claim 4, the drive assembly comprising: A driving component and a rotating component connected to the driving component, the driving component being used to drive the rotating component to rotate, the first end of the transmission component being connected to the rotating component, and during the process of the driving component driving the rotating component to rotate, the transmission component being wound around the rotating component to drive the force-applying component to move.

6. The lifting mechanism according to claim 5, wherein the rotating component comprises a winch; and / or, The transmission component includes a flexible transmission component; and / or, The transmission component is at least one of linear, belt-like, or chain-like; and / or, The transmission assembly further includes a conduit, which is sleeved outside the transmission component and disposed on the body; and / or, The main body is also provided with a locking component, and the transmission component is disposed on the locking component; or, the transmission component further includes a conduit, the conduit is sleeved outside the transmission component, and the conduit is disposed on the locking component.

7. The lifting mechanism according to claim 4, wherein the force-applying component includes a first connecting rod, a first end of the first connecting rod being connected to the transmission component, and a second end of the first connecting rod being used to abut against the drive wheel housing; or, the force-applying component includes a slider, a first end of the slider being connected to the transmission component, and a second end of the slider sliding relative to the drive wheel housing.

8. The lifting mechanism according to claim 7, wherein the force-applying member includes a first connecting rod, a first end of the first connecting rod is connected to the transmission member, and a second end of the first connecting rod is used to abut against the drive wheel housing; The first link includes a first single link, the first end of which is connected to the transmission component, and the second end of which is used to abut against the drive wheel housing; or, the first link includes a first double link, the first end of which is connected to the transmission component, the second end of which is used to abut against the drive wheel housing, and the third end of which is connected to the main body.

9. The lifting mechanism according to claim 8, wherein the transmission member includes a flexible transmission member, a first end of which is connected to the driving assembly, and a second end of which is connected to the force-applying member; or, the transmission member includes a second connecting rod, a first end of which is connected to the driving assembly, and a second end of which is connected to the force-applying member.

10. The lifting mechanism according to claim 9, wherein the transmission member includes a second connecting rod, a first end of the second connecting rod being connected to the driving assembly, and a second end of the second connecting rod being connected to the force-applying member; The second link includes a second single link, the first end of which is connected to the drive assembly, and the second end of which is connected to the force-applying component; or, the second link includes a second double link, the first end of which is connected to the drive assembly, and the second end of which is connected to the force-applying component.

11. The lifting mechanism according to claim 8, wherein the main body is provided with a fixed shell, the fixed shell is provided with a movable space, and at least a portion of the first connecting rod moves in the movable space; The first link includes a first single link, the first end of which is connected to the transmission component, the second end of which abuts against the drive wheel housing, and the middle part of which is rotatably connected to the fixed housing via a second rotating shaft. The first end and / or the second end of the first single link move in the movable space. Alternatively, the first link includes a first double link, the first end of which is connected to the transmission component, the second end of which abuts against the drive wheel housing, and the third end of which is connected to the fixed housing. The first end of the first double link moves in the movable space.

12. The lifting mechanism of claim 11, the transmission assembly further comprising: An elastic element, the elastic element being used to provide a force to the first link to move toward the first position; The first connecting rod includes a first single connecting rod, the first end of which is connected to the transmission component, the second end of which abuts against the drive wheel housing, and the middle portion of which is rotatably connected to the fixed housing via a second rotating shaft. The elastic element is sleeved on the second rotating shaft and disposed between the fixed housing and the first single connecting rod; or, the first connecting rod includes a first double connecting rod, the first end of which is connected to the transmission component, the second end of which abuts against the drive wheel housing, the third end of which is connected to the fixed housing, the first end of which is connected to the first end of the first double connecting rod, and the second end of which is connected to the fixed housing; and / or, The drive wheel housing is provided with a boss, and one end of the first connecting rod abuts against the boss; and / or The first link includes a first single link, the first end of which is connected to the transmission component, the second end of which is used to abut against the drive wheel housing, and the middle part of which is rotatably connected to the fixed housing via a second rotating shaft, the second rotating shaft being parallel to the first rotating shaft.

13. The lifting mechanism according to claim 11, wherein the movable space includes a first slide groove and / or a second slide groove, and one end of the first connecting rod connected to the transmission member is inserted into the first slide groove and / or the second slide groove.

14. The lifting mechanism according to claim 13, wherein the first connecting rod includes a first two-link and a sliding connector, the first end of the first two-link is connected to the transmission member, the second end of the first two-link abuts against the drive wheel housing, the third end of the first two-link is connected to the fixed housing, and the sliding connector is inserted into the first end of the first two-link and the first and / or the second sliding groove, and slides along the first and / or the second sliding groove.

15. The lifting mechanism according to claim 3, wherein the main body is provided with a fixed shell, the fixed shell has an active space, and at least a portion of the force-applying member moves within the active space; and / or, The transmission assembly further comprises: An elastic element, the first end of which is connected to the force-applying element, and the second end of which is connected to the body, the elastic element being used to provide a force to the force-applying element to move toward the first position.

16. The lifting mechanism according to claim 1, wherein the lifting mechanism comprises at least two of the walking components, and two of the at least two walking components are symmetrically arranged on both sides of the body along the forward direction of the cleaning robot.

17. The lifting mechanism according to claim 16, wherein the lifting mechanism comprises at least two of the transmission components, and at least two of the walking components and at least two of the transmission components correspond one-to-one.

18. The lifting mechanism of claim 17, at least two of the drive assemblies comprising: At least one active transmission component and at least one driven transmission component, wherein at least one driven transmission component is connected to at least one active transmission component, and at least one active transmission component is connected to the drive component, wherein at least one active transmission component moves under the drive of the drive component and drives at least one driven transmission component to move.

19. The lifting mechanism of claim 18, each said drive assembly comprising: An active transmission component and an active force application component are provided. The active force application component is connected to the active transmission component, and the active transmission component is connected to the drive assembly. The active transmission component moves under the drive of the drive assembly and drives the active force application component to move. During the movement of the active force-applying component, the active force-applying component abuts against the drive wheel housing or slides relative to the drive wheel housing, while simultaneously driving at least one of the driven transmission components to move.

20. The lifting mechanism of claim 19, each said driven drive assembly comprising: A driven transmission component and a driven force-applying component are connected to the active force-applying component and the driven force-applying component, respectively. During the movement of the active force-applying component, the driven transmission component is driven to move, thereby driving the driven force-applying component to move.

21. The lifting mechanism according to claim 20, wherein the active force-applying member slides relative to the drive wheel housing, and one of the drive wheel housing and the active force-applying member is provided with a sliding member, and the other is provided with a sliding surface; and / or, The driven force-applying component slides relative to the drive wheel housing; one of the drive wheel housing and the driven force-applying component is provided with a sliding element, and the other is provided with a sliding surface; and / or, The active force-applying component and / or the driven force-applying component abut against the drive wheel housing.

22. The lifting mechanism according to claim 21, wherein the active force-applying member slides relative to the drive wheel housing, and one of the drive wheel housing and the active force-applying member is provided with a sliding member, and the other is provided with a sliding surface; and / or, The driven force-applying component slides relative to the drive wheel housing. One of the drive wheel housing and the driven force-applying component is provided with a sliding member, and the other is provided with a sliding surface. wherein The sliding surface includes a plane and an inclined plane. During the sliding process of the sliding member, the sliding member abuts against the sliding surface. When the active force-applying member and / or the driven force-applying member move to the second position, the sliding member abuts against the plane of the sliding surface.

23. The lifting mechanism of claim 20, the driven transmission comprising a flexible driven transmission. And / or, The driven transmission component is at least one of linear, belt-like, or chain-like; and / or, The driven transmission assembly further includes: a sleeve, the sleeve being fitted over the driven transmission member, the sleeve being disposed on the body; and / or... The main body is also provided with a locking component, and the driven transmission component is disposed on the locking component; or, the driven transmission component further includes: a sleeve, the sleeve being sleeved outside the driven transmission component, and the sleeve being disposed on the locking component.

24. The lifting mechanism according to claim 20, wherein the active transmission member includes a third link, the first end of the third link being connected to the drive assembly, and the second end of the third link being connected to the active force-applying member and the driven transmission member; wherein The third link includes a third single link, the first end of which is connected to the drive assembly, and the second end of which is connected to the active force-applying component; or, the third link includes a third double link, the first end of which is connected to the drive assembly, and the second end of which is connected to the active force-applying component.

25. The lifting mechanism according to claim 20, wherein the body further comprises a fixed shell, the fixed shell having a movable space, and at least a portion of the active force-applying member and / or the driven force-applying member moves in the movable space; The first end of the active force-applying component is movably inserted into the active space, and the second end of the active force-applying component slides relative to the drive wheel housing or abuts against the drive wheel housing. And / or, The first end of the driven force-applying member is movably inserted into the movable space, and the second end of the driven force-applying member slides relative to or abuts against the drive wheel housing.

26. The lifting mechanism according to claim 1, wherein the traveling assembly further comprises a third rotating shaft, the drive wheel being rotatably mounted on the drive wheel housing along the third rotating shaft, the third rotating shaft being parallel to the first rotating shaft; and / or, The walking assembly further includes a drive wheel motor for driving the drive wheel to rotate. The drive wheel motor rotates about a fourth axis, which is parallel to the first axis; and / or... The walking assembly further includes a suspension member, a first end of which is connected to or abuts against the drive wheel housing, and a second end of which abuts against the body. At least a portion of the walking assembly is elastically connected to the body via the suspension member. At least a portion of the drive wheel extends out of the body to contact the target surface.

27. A cleaning robot, characterized in that The cleaning robot includes: The subject; and The lifting mechanism according to any one of claims 1 to 26, wherein the lifting mechanism is disposed on the body.

28. The cleaning robot of claim 27, the body comprising: A chassis and a cover, the chassis being connected to the cover and forming a receiving cavity, the chassis having an opening facing the target surface, the opening communicating with the receiving cavity; wherein at least a portion of the walking assembly is disposed in the opening, and the transmission assembly or the drive assembly is disposed in the receiving cavity and / or the opening.

29. The cleaning robot of claim 27, comprising two of the travel assemblies, two of the drive wheels being symmetrically disposed relative to a center of the body; the cleaning robot further comprising: The omnidirectional wheels are used to cooperate with the two drive wheels to control the movement of the cleaning robot, and the mopping device is used to clean the surface to be cleaned.

30. The cleaning robot according to claim 29, wherein, with the forward direction of the cleaning robot as a reference direction, the two drive wheels are respectively disposed on the left and right sides of the body, and, The omnidirectional wheels and the wiping component are located on the rear side of the main body, the first pivot is located on the front side of the drive wheels, and the side of the main body that is raised relative to the target surface is the front side of the main body; or... The omnidirectional wheel is located on the front side of the main body, the dragging component is located on the rear side of the main body, the first rotating shaft is located on the rear side of the drive wheel, and the side of the main body that is raised relative to the target surface is the rear side of the main body.

31. A cleaning system characterized by, The cleaning system includes: Base station; and The cleaning robot according to any one of claims 27-30, wherein the cleaning robot moves to the base station for maintenance.

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