Auxiliary wheel assembly and mobile cleaner

Abstract

This disclosure provides an auxiliary wheel assembly and a mobile cleaner. The auxiliary wheel assembly includes a support frame, rollers, a drive assembly, and an elastic element; the support frame is configured to have its lower end protruding from a chassis assembly, and the support frame is used to support and stabilize the chassis assembly; the rollers are rotatably disposed at the lower end of the support frame; the drive assembly is used to drive the support frame to adjust the distance by which the support frame protrudes from the chassis assembly; the elastic element is disposed between the drive assembly and the support frame, and is used to apply an external force to the support frame, which causes the support frame to tend to protrude downwards from the chassis assembly; wherein the lower end of the support frame can approach or move away from the drive assembly, and when the lower end of the support frame approaches the drive assembly, the elastic element is further compressed.

Description

Technical Field

[0001] This disclosure relates to an auxiliary wheel assembly and a mobile cleaner. Background Technology

[0002] Household vacuum cleaning equipment is used to clean a room by sucking up particles such as dust from the floor.

[0003] Existing household vacuum cleaning equipment typically includes drive wheels and steering wheels, which are usually omnidirectional wheels responsible for flexibly adjusting the direction of travel. They also provide guidance when the household vacuum cleaning equipment overcomes obstacles.

[0004] Many household vacuum cleaners on the market have casters that lack a cushioning structure. When the vacuum cleaner is going over an obstacle, the casters will directly hit the ground, generating a lot of noise and easily damaging the surface to be cleaned.

[0005] Some existing household vacuum cleaning devices also include spring buffers, but these are passive elastic buffers with short buffer strokes and insignificant shock absorption. Utility Model Content

[0006] This disclosure provides an auxiliary wheel assembly and a mobile cleaner.

[0007] According to one aspect of this disclosure, an auxiliary wheel assembly is provided, which is mounted on a chassis assembly of a mobile cleaner and located at the front and / or rear of the chassis assembly of the mobile cleaner, and includes: A support frame, wherein the lower end of the support frame protrudes from the chassis assembly, and the support frame is used to support and stabilize the chassis assembly; A roller, which is rotatably disposed at the lower end of the support frame; A drive assembly for driving the support frame to move, thereby adjusting the distance by which the support frame protrudes from the chassis assembly; and An elastic element is disposed between the drive assembly and the support frame to apply an external force to the support frame, which causes the support frame to tend to protrude downwards towards the chassis assembly. The lower end of the support frame can approach or move away from the drive assembly, and the elastic element is further compressed when the lower end of the support frame approaches the drive assembly.

[0008] According to at least one embodiment of the auxiliary wheel assembly of this disclosure, the drive assembly includes: A support housing, the support housing being fixed to the chassis assembly; A drive device, disposed on the support housing and configured to generate rotational force; The worm gear portion is fixedly connected to the output shaft of the drive device; and A drive structure configured to guide the support frame to move relative to the support housing during rotation of the worm gear.

[0009] According to at least one embodiment of the auxiliary wheel assembly of this disclosure, the drive structure includes: An outer frame is rotatably disposed on the support housing and has an internal thread; wherein the outer frame is configured to engage with the worm gear and be driven to rotate by the worm gear. An inner frame having an external threaded portion, the internal threaded portion being threadedly engaged with the external threaded portion; the inner frame is configured to generate vertical movement through the engagement of the internal threaded portion and the external thread.

[0010] According to at least one embodiment of the auxiliary wheel assembly of the present disclosure, the support housing includes a guide portion for restricting rotation of the inner frame relative to the support housing, while allowing the guide portion to move in the vertical direction.

[0011] According to at least one embodiment of the auxiliary wheel assembly of the present disclosure, the inner frame includes a mounting groove for receiving a first end of the elastic member.

[0012] According to at least one embodiment of the auxiliary wheel assembly of the present disclosure, the inner frame includes a tubular member extending axially therein, at least a portion between the tubular member and the inner wall of the inner frame forming the mounting groove for receiving a first end of the elastic member.

[0013] According to at least one embodiment of the auxiliary wheel assembly of the present disclosure, the support frame is configured to be coaxially inserted into the tubular member and is movable relative to the tubular member in its axial direction.

[0014] According to at least one embodiment of the auxiliary wheel assembly of the present disclosure, a helical gear is formed on the outer peripheral surface of the outer frame, and the helical gear engages with the worm gear portion.

[0015] According to at least one embodiment of the auxiliary wheel assembly of the present disclosure, the upper end of the support frame is provided with a limiting portion, the limiting portion being used to limit the maximum movement displacement of the support frame relative to the drive assembly in the downward direction.

[0016] According to another aspect of this disclosure, a mobile cleaner is provided, which includes the aforementioned auxiliary wheel assembly. Attached Figure Description

[0017] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0018] Figure 1 This is a structural schematic diagram of a portable cleaner according to one embodiment of the present disclosure.

[0019] Figure 2 This is a structural schematic diagram of a portable cleaner according to one embodiment of the present disclosure from another angle.

[0020] Figure 3 This is a schematic diagram of the structure of an auxiliary wheel assembly according to one embodiment of the present disclosure.

[0021] Figure 4 This is a schematic diagram of the internal structure of an auxiliary wheel assembly according to one embodiment of the present disclosure.

[0022] Figure 5 This is a cross-sectional structural schematic diagram of an auxiliary wheel assembly according to one embodiment of the present disclosure.

[0023] Figure 6 This is a schematic diagram of the cooperation relationship between the support housing and the drive structure according to one embodiment of the present disclosure.

[0024] Figure 7 This is a structural schematic diagram of a cleaning robot according to one embodiment of the present disclosure.

[0025] Figure 8 This is a structural schematic diagram of a portion of the structure of a cleaning robot according to one embodiment of the present disclosure from another angle.

[0026] Figure 9 This is a schematic diagram of the structure of a walking wheel assembly according to one embodiment of the present disclosure.

[0027] Figure 10 This is a structural schematic diagram of a walking wheel assembly according to one embodiment of the present disclosure from another angle.

[0028] Figure 11 This is a schematic diagram of the structure of a first driving device according to an embodiment of the present disclosure.

[0029] Figure 12 This is a schematic diagram of the structure of a second drive device according to one embodiment of the present disclosure.

[0030] Figures 13 to 16 This is a schematic diagram of the obstacle-crossing process of a cleaning robot according to one embodiment of the present disclosure.

[0031] Figure 17 This is a flowchart of an operation method for a portable cleaner according to one embodiment of the present disclosure.

[0032] Figure 18 This is a flowchart of an operation method for a portable cleaner according to another embodiment of the present disclosure.

[0033] The specific labels in the attached figures are as follows: 100 Chassis Components 200 Side Brush Components 300 brush roller assembly 400 Auxiliary Wheel Assembly 410 support frame 420 rollers 430 Driver Components 431 Support shell 431A Guiding Section 432 drive unit 433 Worm Gear Section 434 Drive Structure 434A outer frame 434B Inner Frame 434C Tubular Components 440 Elastic Component 450 Limiting Part 500 travel wheel assembly 510 wheel frame 520 Track Wheel Assembly 521 Drive Wheel 522 Driven wheel 523 Circular Belt 530 Drive Wheel Assembly 540 First Drive Unit 550 Second Drive Unit 551 Shell Structure 560 Power Transmission Link 570 Support Link 600 Cleaning Components. Detailed Implementation

[0034] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0035] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0037] Figure 1 This is a structural schematic diagram of a portable cleaner according to one embodiment of the present disclosure. Figure 2 This is a structural schematic diagram of a portable cleaner according to one embodiment of the present disclosure from another angle.

[0038] The mobile cleaner disclosed herein can be a robotic vacuum cleaner, a robotic mop, or a combined vacuum and mop robot. The mobile cleaner is capable of autonomously moving across the surface to be cleaned to clean the surface by sucking up particles located on different parts of the surface. Figure 1 and Figure 2 As shown, the mobile cleaner disclosed herein can be a sweeping and mopping robot.

[0039] by Figure 1 and Figure 2 Taking the mobile cleaner shown as an example, let's consider the forward direction of the mobile cleaner as "forward". Figure 2 The view direction is such that the mobile cleaner moves forward from the top to one side. The direction away from the mobile cleaner's movement is backward. (Refer to...) Figure 2 In terms of the view direction, the rear of the portable cleaner refers to the side below. Correspondingly, the direction perpendicular to the front-back direction can be defined as the left-right direction.

[0040] When the portable cleaner is in operation, it can move across a roughly horizontal surface to be cleaned. The direction perpendicular to the surface is called the vertical direction (hereinafter referred to as the vertical).

[0041] The mobile cleaner may include a chassis assembly 100, which forms the body of the mobile cleaner. An auxiliary wheel assembly 400 and a driving wheel assembly 500 are provided at the bottom of the chassis assembly 100. The auxiliary wheel assembly 400 cooperates with the driving wheel assembly 500 to enable the mobile cleaner to steer. The driving wheel assembly 500 is used to drive the mobile cleaner forward or turn. The auxiliary wheel assembly 400 is located at the front of the chassis assembly 100, and the cleaning assembly 600 is rotatably connected to the bottom of the chassis assembly 100, thus located at the rear of the chassis assembly 100.

[0042] like Figure 2 As shown, the walking wheel assembly 500 of this disclosure can be configured as two, which are located approximately at the middle position in the front-rear direction of the chassis assembly 100 and on both sides in the left-right direction of the chassis assembly 100; and the auxiliary wheel assembly 400 is configured as one, which can be a swivel wheel, which is located at the middle position in the left-right direction of the mobile cleaner and close to the front end of the mobile cleaner.

[0043] In actual use, the walking wheel assembly 500 can be driven and rotated. By controlling the walking wheel assembly 500 to rotate at a constant speed, the mobile cleaner can move forward. Correspondingly, by controlling the walking wheel assembly 500 to rotate at a non-constant speed, the mobile cleaner can be turned.

[0044] In this disclosure, the chassis assembly 100 is further provided with a side brush assembly 200, wherein the side brush assembly 200 can be configured as one or two; Figure 2 In the implementation shown, the side brush assembly 200 is configured as one, and the side brush assembly 200 is positioned on the right side of the front end of the chassis assembly 100; thereby, by rotating the side brush assembly 200, dirt on the surface to be cleaned can be disturbed, and the surface to be cleaned can be cleaned.

[0045] In addition, a brush roller assembly 300 is also provided on the chassis assembly 100. The brush roller assembly 300 is located at the middle position in the front-rear direction of the chassis assembly 100, and its length direction is the width direction of the chassis assembly 100. Thus, the brush roller assembly 300 can agitate the dirt on the surface to be cleaned. This dirt can be sucked into a dust box or other device by negative pressure adsorption, and the solid particles are separated in the dust box or other device, thereby realizing the cleaning operation of the surface to be cleaned.

[0046] In a preferred embodiment, a cleaning component 600 is further provided on the chassis assembly 100; in this disclosure, the cleaning component 600 is rotatably connected to the chassis assembly 100 and configured to make frictional contact with the surface to be cleaned to clean the surface. More preferably, when the mobile cleaner is in operation, cleaning liquid can be provided to the cleaning component 600, thereby enabling the cleaning component 600 to perform wet mopping of the surface to be cleaned.

[0047] Figure 3 This is a schematic diagram of the structure of an auxiliary wheel assembly according to one embodiment of the present disclosure. Figure 4 This is a schematic diagram of the internal structure of an auxiliary wheel assembly according to one embodiment of the present disclosure. Figure 5 This is a cross-sectional structural schematic diagram of an auxiliary wheel assembly according to one embodiment of the present disclosure. Figure 6 This is a schematic diagram of the cooperation relationship between the support housing and the drive structure according to one embodiment of the present disclosure.

[0048] like Figures 3 to 6 As shown, the auxiliary wheel assembly 400 of this disclosure is mounted on the chassis assembly 100 of the mobile cleaner and is located at the front and / or rear of the chassis assembly 100. In other words, the auxiliary wheel assembly 400 of this disclosure can be provided as one or two. When the auxiliary wheel assembly 400 is provided as one, it is located at the front of the chassis assembly 100. When the auxiliary wheel assembly 400 is provided as two, it is located at the front and rear of the chassis assembly 100, respectively.

[0049] In one specific embodiment, the auxiliary wheel assembly 400 may include components such as a support frame 410, a roller 420, a drive assembly 430, and an elastic element 440.

[0050] The support frame 410 is formed as a rod-shaped component with its axis set approximately vertically. Moreover, the support frame 410 of this disclosure has rotational and translational degrees of freedom, thereby enabling the support frame 410 of this disclosure to rotate along a approximately vertical axis and also to move along a approximately vertical axis.

[0051] The roller 420 of this disclosure is rotatably disposed at the lower end of the support frame 410; thus, the roller 420 of this disclosure can rotate by the friction between itself and the surface to be cleaned. In other words, the roller 420 of this disclosure does not need to be driven by a motor to rotate.

[0052] At this time, the lower end of the support frame 410 can protrude from the chassis assembly 100, and a portion of the roller 420 can protrude from the lower end of the support frame 410. Thus, the support frame 410 and the roller 420 can jointly support and stabilize the chassis assembly 100. In other words, the support frame 410 can support and stabilize the chassis assembly 100 in a vertical position.

[0053] The drive assembly 430 is used to drive the support frame 410 to adjust the distance by which the support frame 410 protrudes from the chassis assembly 100. In other words, the drive assembly 430 of this disclosure is capable of driving the support frame 410 to move in the vertical direction (i.e., along the axial direction of the support frame 410), thereby enabling the support frame 410 to extend from or at least partially retract into the chassis assembly 100.

[0054] In a preferred embodiment, the drive assembly 430 may include components such as a support housing 431, a drive device 432, a worm gear 433, and a drive structure 434. Thus, the drive assembly 430 of this disclosure is designed to facilitate the vertical movement of the drive support frame 410.

[0055] Specifically, the support housing 431 is fixed to the chassis assembly 100; wherein, as shown in the figure Figure 3 As shown, the support housing 431 of this disclosure may include an upper housing and a lower housing. The lower housing can be directly fixed to the chassis assembly 100, and the upper housing can be fixed to the lower housing or directly fixed to the chassis assembly 100. This disclosure does not limit this.

[0056] A drive unit 432 is disposed on the support housing 431 and configured to generate rotational force; in a specific embodiment, the drive unit 432 may be a motor, and the motor may be disposed in a receiving space of the lower housing and fixed to the lower housing by means of screws or other components. Furthermore, the output shaft of the drive unit 432 is disposed in a receiving space between the upper and lower housings.

[0057] The worm gear 433 is fixedly connected to the output shaft of the drive device 432; correspondingly, the worm gear 433 is also disposed in the receiving space between the upper and lower shells, and the worm gear 433 can be driven and rotated by the drive device 432.

[0058] The drive structure 434 of this disclosure is configured to guide the support frame 410 to move relative to the support housing 431 during the rotation of the worm gear portion 433. In other words, the drive structure 434 of this disclosure can receive the driving force of the worm gear portion 433 and convert the rotational motion of the worm gear portion 433 into linear motion to drive the support frame 410 to move in the vertical direction relative to the support housing 431.

[0059] In other words, when the surface to be cleaned is approximately horizontal, the lower surface of the chassis assembly 100 is also approximately horizontal, and the support housing 431 is also approximately horizontal. At this time, the drive structure 434 can drive the support frame 410 to produce vertical movement.

[0060] like Figure 5As shown, the drive structure 434 of this disclosure may include components such as an outer frame 434A and an inner frame 434B. Both the outer frame 434A and the inner frame 434B are cylindrical structures.

[0061] The outer frame 434A is rotatably mounted on the support housing 431, and is configured to engage with and be driven to rotate by the worm gear 433. Specifically, a helical gear is formed on the outer peripheral surface of the outer frame 434A, which engages with the worm gear 433, thereby driving the rotation of the outer frame 434A by rotating the worm gear 433.

[0062] In addition, such as Figure 5 As shown, a stepped portion can be formed on the lower shell of this disclosure, and the lower end of the outer frame 434A can be disposed within the stepped portion and its downward movement is restricted by the stepped portion. Additionally, an inner flange is formed on the upper shell, which restricts the upward movement of the outer frame 434A. In other words, the outer frame 434A can only rotate relative to the supporting shell 431 and cannot move in the vertical direction.

[0063] The outer frame 434A has an internal thread; the inner frame 434B has an external thread, and the internal thread and the external thread are threaded together; the inner frame 434B is configured to generate vertical movement through the meshing of the internal thread and the external thread.

[0064] In other words, when the outer frame 434A rotates, and the inner frame 434B is restricted from rotating and can only move along its axis, the outer frame 434A will drive the inner frame 434B to move in the vertical direction.

[0065] In a preferred embodiment, the support housing 431 includes a guide portion 431A, which restricts the rotation of the inner frame 434B relative to the support housing 431, while allowing the guide portion 431A to move in the vertical direction. For example, the lower housing may include a circular hole, on the inner wall of which the guide portion 431A is formed, in which case the hole in the lower housing will be non-circular. At least a portion of the cross-section of the inner frame 434B has the same or similar cross-sectional shape as the non-circular cross-section of the lower housing, thereby preventing the inner frame 434B from rotating relative to the support housing 431 and allowing it to move only in the vertical direction.

[0066] Thus, the outer frame 434A of this disclosure can drive the inner frame 434B to reciprocate between a first position and a second position, wherein the first position is higher than the second position. When the inner frame 434B is in the first position, the lower end of the support frame 410 slightly extends out of the chassis assembly 100; when the inner frame 434B is in the second position, the lower end of the support frame 410 extends out of the chassis assembly 100 by a larger amount, for example, the entire roller can be located outside the chassis assembly 100.

[0067] A limiting part 450 is provided at the upper end of the support frame 410. The limiting part 450 is used to limit the maximum downward displacement of the support frame 410 relative to the drive assembly 430. In other words, the limiting part 450 prevents the support frame 410 from detaching from the drive structure 434.

[0068] The elastic element 440 is disposed between the drive assembly 430 and the support frame 410 to apply an external force to the support frame 410, which causes the support frame 410 to tend to protrude downwards from the chassis assembly 100.

[0069] By providing the elastic member 440, the limiting part 450 can be in pressure contact with the inner frame 434B, at which time the elastic member 440 is in a pre-compressed state. Thus, the elastic member 440 can apply elastic force to the support frame 410, and make the support frame 410 move away from the drive assembly 430 (i.e., away from the inner frame 434B).

[0070] In other words, the support frame 410 of this disclosure is not rigidly fixed to the inner frame 434B, otherwise it would not have rotational freedom.

[0071] The inner frame 434B includes a mounting groove for receiving the first end (i.e., the upper end) of the elastic member 440. Thus, the elastic member 440 of this disclosure can be stably held and guided by the inner frame 434B, enabling the elastic member 440 to stably apply a spring force to the support frame 410. Furthermore, the second end (lower end) of the elastic member 440 can be supported on the support frame 410, thereby allowing the elastic member 440 to directly apply a spring force to the support frame 410.

[0072] The inner frame 434B includes a tubular member 434C extending axially therein, and at least a portion between the tubular member 434C and the inner wall of the inner frame 434B forms a mounting groove for receiving a first end of the elastic member 440.

[0073] The support frame 410 is configured to be coaxially inserted into the tubular member 434C and is capable of moving relative to the tubular member 434C in its axial direction; at the same time, the support frame 410 of this disclosure is also capable of rotating within the tubular member 434C, thereby the support frame 410 has two degrees of freedom of movement: rotation and translation.

[0074] The lower end of the support frame 410 can approach or move away from the drive assembly 430. Specifically, the lower end of the support frame 410 can approach or move away from the lower end of the tubular component 434C. Thus, the support frame 410 of this disclosure is floatingly arranged, and correspondingly, the roller 420 can always have an impact buffer, which improves the impact resistance of the auxiliary wheel assembly 400.

[0075] When the support frame 410 is subjected to an upward force, the lower end of the support frame 410 will move closer to the drive assembly 430, at which time the elastic element 440 will be further compressed. Then, when the upward force disappears, the support frame 410 will move away from the drive assembly 430 under the elastic force of the elastic element 440.

[0076] The structure of the walking wheel assembly 500 of this disclosure will be described below with reference to the accompanying drawings.

[0077] Figure 7 This is a structural schematic diagram of a cleaning robot according to one embodiment of the present disclosure. Figure 8 This is a structural schematic diagram of a portion of the structure of a cleaning robot according to one embodiment of the present disclosure from another angle. Figure 9 This is a schematic diagram of the structure of a walking wheel assembly according to one embodiment of the present disclosure. Figure 10 This is a structural schematic diagram of a walking wheel assembly according to one embodiment of the present disclosure from another angle. Figure 11 This is a schematic diagram of the structure of a first driving device according to an embodiment of the present disclosure. Figure 12 This is a schematic diagram of the structure of a second drive device according to one embodiment of the present disclosure.

[0078] The walking wheel assembly 500 disclosed herein can be installed on a cleaning robot, for example, on the chassis assembly 100 of the cleaning robot, to drive the cleaning robot to move via the walking wheel assembly 500.

[0079] Specifically, the walking wheel assembly 500 disclosed herein may include components such as wheel frame 510, track wheel assembly 520, drive wheel assembly 530, and first drive device 540.

[0080] The wheel frame 510 disclosed herein is configured as a load-bearing member, which can serve as a mounting base for the track wheel assembly 520, the drive wheel assembly 530, and the first drive unit 540. Additionally, the wheel frame 510 can also serve as a mounting base for the first transmission gear and the second transmission gear.

[0081] The track wheel assembly 520 of this disclosure is rotatably mounted on the wheel frame 510. In one specific embodiment, the track wheel assembly 520 can be located in front of the drive wheel assembly 530, so that when the cleaning robot of this disclosure is running on a generally horizontal surface to be cleaned, the track wheel assembly 520 does not need to contact the surface to be cleaned, and at this time, the track wheel assembly 520 will be in an idle state. When the cleaning robot of this disclosure needs to cross an obstacle, the track wheel assembly 520 will contact the corner or upper surface of the obstacle, thereby acting as a power output mechanism and causing the cleaning robot to move relative to the obstacle to cross it.

[0082] The drive wheel assembly 530 of this disclosure is rotatably mounted on the wheel frame 510 and is located behind the track wheel assembly 520 on the wheel frame 510. When the cleaning robot, driven by the track wheel assembly 520, crosses an obstacle, the drive wheel assembly 530 can contact the obstacle, providing the cleaning robot with the power to move forward, thus enabling the cleaning robot of this disclosure to have continuous motion when crossing obstacles.

[0083] Overall, the cleaning robot disclosed herein can only move forward to overcome obstacles, and cannot move backward to overcome them. In other words, the height of obstacles that the cleaning robot can overcome when moving forward is much greater than the height of obstacles that the cleaning robot can overcome when moving backward.

[0084] The first drive device 540 of this disclosure is disposed on the wheel frame 510 and is used to drive the track wheel assembly 520 and the drive wheel assembly 530 to rotate in the same direction. Specifically, in one embodiment, one first drive device 540 can simultaneously drive the track wheel assembly 520 and the drive wheel assembly 530 to rotate, thereby the cleaning robot of this disclosure has fewer parts and lower manufacturing costs. In another embodiment, the number of first drive devices 540 can be set to two. In this case, one first drive device 540 can drive the track wheel assembly 520 to rotate, and the other first drive device 540 can drive the drive wheel assembly 530 to rotate. In this case, the first drive device 540 that drives the track wheel assembly 520 can be activated only when crossing obstacles. In this case, the cleaning robot of this disclosure is easier to control, saves energy, and improves the endurance of the cleaning robot.

[0085] In one specific embodiment, the first drive device 540 is connected to the track wheel assembly 520 via a first transmission gear, and to the drive wheel assembly 530 via a second transmission gear. That is, the first drive device 540 of this disclosure transmits power to the track wheel assembly 520 and the drive wheel assembly 530 through different transmission paths. Those skilled in the art will understand that the first and second transmission gears include parallel shaft gear transmission structures or planetary gear transmission structures, etc., and these transmission gears can all be implemented using existing technologies, which will not be elaborated upon here.

[0086] In one specific embodiment, the track wheel assembly 520 includes a drive wheel 521, a driven wheel 522, and an annular belt 523; the drive wheel 521 is mounted on the wheel frame 510 and connected to the first drive device 540 via a first transmission gear, and is configured to rotate by receiving driving force from the first drive device 510; in other words, the drive wheel 521 of this disclosure can be rotatably disposed on the wheel frame 510 and can be directly driven and rotated by the first drive device 540.

[0087] Driven wheel 522 is mounted on wheel frame 510 and arranged in front of drive wheel 521; in other words, drive wheel 521 of this disclosure is arranged close to drive wheel assembly 530, while driven wheel 522 is arranged away from drive wheel assembly 530. Thus, first drive device 540 can be arranged above drive wheel 521 and drive wheel assembly 530, and the first transmission gear and the second transmission gear have a shorter transmission path, reducing manufacturing cost.

[0088] The annular belt 523 is formed to completely surround the driving pulley 521 and the driven pulley 522 into a closed loop, and is configured to drive the driven pulley 522 to rotate when the driving pulley 521 rotates. In a preferred embodiment, the driving pulley 521 and the driven pulley 522 can be formed as synchronous pulleys, and correspondingly, the annular belt 523 is formed as a synchronous belt. Since the synchronous belt will not slip relative to the driving pulley 521 and the driven pulley 522, there will be a high transmission efficiency between the driving pulley 521 and the driven pulley 522.

[0089] In one specific embodiment, the first drive device 540 of this disclosure can be a motor.

[0090] The wheel assembly 500 of this disclosure further includes a second drive device 550 for generating driving force to rotate the wheel frame 510. In a preferred embodiment, the second drive device 550 may include a housing structure 551 and a motor and worm gear assembly disposed within the housing structure 551. The housing structure 551 is disposed on the chassis assembly 100, for example, the housing structure 551 is fixed to the chassis assembly 100, thereby causing the second drive device 550 of this disclosure to be disposed on the chassis assembly 100.

[0091] In this disclosure, the second drive unit 550 is connected to the wheel frame 510 via a drive assembly. The drive assembly transmits the driving force of the second drive unit 550 to the wheel frame 510 to rotate the wheel frame 510. In other words, the walking wheel assembly 500 of this disclosure may also include a drive assembly for connecting the second drive unit 550 and the wheel frame 510. Thus, when the second drive unit 550 is activated, the wheel frame 510 can rotate relative to the chassis assembly 100, thereby improving the obstacle-crossing ability of the cleaning robot.

[0092] In a preferred embodiment, the drive assembly disclosed herein may include a power transmission link 560, which is connected to the second drive device 550 and the wheel frame 510, for transmitting the driving force generated by the second drive device 550 to the wheel frame 510.

[0093] Specifically, one end of the power transmission link 560 is fixedly connected to the output shaft of the second drive device 550, so that the second drive device 550 drives the power transmission link 560 to rotate around the rotation axis of the output shaft of the second drive device 550; the other end of the power transmission link 560 is pivotally mounted on the wheel frame 510, wherein the pivot axis of the power transmission link 560 relative to the wheel frame 510 is parallel to the rotation axis. Thus, the power transmission link 560 of this disclosure can generate a swinging motion, and through this swinging motion, the wheel frame 510 can reciprocate between a first position and a second position.

[0094] Specifically, the wheel frame 510 is rotatable relative to the second drive unit 550 (or relative to the chassis assembly 100) between a first position and a second position. In the first position, the wheel frame 510 is retracted inward to its maximum position relative to the chassis assembly 100, thereby providing a lower clearance in the chassis assembly 100 of the cleaning robot to facilitate cleaning of the surface to be cleaned. In the second position, the wheel frame 510 is deflected outward to its maximum position relative to the chassis assembly 100, thereby applying a supporting force to the surface to be cleaned and lifting the front of the cleaning robot. At this position, the front end of the chassis assembly 100 of the cleaning robot will have a larger clearance relative to the surface to be cleaned, thus giving the cleaning robot a stronger obstacle-crossing ability.

[0095] In particular, as the size of the track wheel assembly 520 increases in the longitudinal direction, the obstacle-crossing ability of the cleaning robot of this disclosure is enhanced. In a conventional design, the cleaning robot of this disclosure would have an obstacle-crossing capability of approximately 6 cm, greatly improving the obstacle-crossing level of the cleaning robot. Thus, the cleaning robot of this disclosure can automatically clean various surfaces with obstacles, expanding the application scenarios of the cleaning robot.

[0096] In a preferred embodiment, the drive assembly further includes a support link 570, which is connected to the second drive device 550 and the wheel frame 510. The support link 570 is used to limit the position and orientation of the wheel frame 510 when the power transmission link 560 rotates. In other words, in the cleaning robot of this disclosure, the power transmission link 560, the wheel frame 510, and the support link 570 can form a four-bar linkage structure, thereby enabling… Figure 9 As shown, when the power transmission link 560 rotates counterclockwise, the wheel carrier 510 will rotate clockwise, moving from the first position to the second position. Conversely, when the power transmission link 560 rotates clockwise, the wheel carrier 510 will rotate counterclockwise, moving from the second position to the first position.

[0097] In a preferred embodiment, the line containing the power transmission link 560 intersects the line containing the support link 570. Therefore, the power transmission link 560 and the support link 570 of this disclosure will not form a parallel four-bar structure. Accordingly, the wheel frame 510 of this disclosure will have a larger rotation angle, thereby improving the obstacle-crossing ability of the cleaning robot.

[0098] In one specific embodiment, one end of the support link 570 is pivotally connected to the housing structure 551 of the second drive device 550, and the other end of the support link 570 is pivotally connected to the wheel frame 510. In other words, the support link 570 of this disclosure is a follower component that is not subject to a driving force, and both ends of it are free to rotate.

[0099] More preferably, such as Figure 9 As shown, the connection point between the power transmission link 560 and the second drive device 550 is further forward than the connection point between the support link 570 and the second drive device 550; moreover, the connection point between the power transmission link 560 and the wheel frame 510 is also further forward than the connection point between the support link 570 and the wheel frame 510.

[0100] Furthermore, the connection between the power transmission link 560 and the second drive device 550 is at a first distance from the connection between the support link 570 and the second drive device 550, and the connection between the power transmission link 560 and the wheel frame 510 is at a second distance from the connection between the support link 570 and the wheel frame 510. The first distance is greater than the second distance. Therefore, a larger rotation angle of the wheel frame 510 can be achieved with only a smaller rotation angle of the power transmission link 560. As a result, the cleaning robot of this disclosure has a faster obstacle-crossing speed, saving the obstacle-crossing time of the cleaning robot.

[0101] In this disclosure, such as Figure 12 As shown, the second drive device 550 of this disclosure includes a motor and a worm gear assembly driven by the motor. The motor drives the worm of the worm gear assembly to rotate, and the worm of the worm gear assembly drives the worm wheel of the worm gear assembly to rotate. The power transmission link 560 is driven by the output shaft of the worm wheel. In another embodiment of this disclosure, the worm wheel of the second drive device 550 can be replaced by a common gear.

[0102] The wheel frame 510 is configured to rotate relative to the second drive unit 550 between a first position and a second position, and when the second drive unit 550 does not provide driving force to the power transmission link 560, the power transmission link 560 is restricted to its current position by the worm gear assembly. In other words, through the self-locking function of the worm gear assembly, the wheel frame 510 can be stopped at any position between the first and second positions. Thus, when the cleaning robot of this disclosure traverses obstacles of different heights, the wheel frame 510 can be controlled to stop at a position where it can traverse the obstacle. Therefore, the wheel frame 510 of this disclosure can be quickly driven to a preset position, thereby reducing the time it takes for the cleaning robot to traverse obstacles.

[0103] In a preferred embodiment, the rotation axis of the first drive device 540 is arranged parallel to the rotation axis of the second drive device 550. Thus, the first drive device 540 and the second drive device 550 of this disclosure can be conveniently arranged and save arrangement space, so that the cleaning robot can be miniaturized.

[0104] In the cleaning robot disclosed herein, the wheel frame 510 also forms a space for accommodating the first transmission gear and the second transmission gear. Thus, the first transmission gear and the second transmission gear can be located in the space. Accordingly, the wheel frame 510 can provide physical protection for the first transmission gear and the second transmission gear, preventing the first transmission gear and the second transmission gear from being damaged.

[0105] Figures 13 to 16 This is a schematic diagram of the obstacle-crossing process of a cleaning robot according to one embodiment of the present disclosure.

[0106] like Figures 13 to 16 As shown, when the cleaning robot of this disclosure overcomes obstacles, it can first deflect the wheel frame 510 outward to the obstacle-crossing state. In this state, the bottom surface of the chassis assembly 100 forms an angle with the surface to be cleaned (which can be a horizontal surface). As a result, the front end of the cleaning robot will be in a tilted-up state, and the front end of the cleaning robot will move above the step (which is a typical obstacle). At this time, the auxiliary wheel assembly can be controlled to extend outward by a preset distance.

[0107] As the drive wheel assembly 530 continues to move, the travel wheel assembly 500 will approach the step. At this point, the track wheel assembly 520 of the travel wheel assembly 500 will first contact one corner of the step, as shown in the image. Figure 13 As shown.

[0108] Since the track wheel assembly 520 is rotating, it acts as a drive component, enabling the cleaning robot to continue moving forward. Furthermore, in this state, the drive wheel assembly 530 will be suspended in the air. Figure 14 As shown.

[0109] As the track wheel assembly 520 disengages from the corner of the step, the drive wheel assembly 530 will then engage with the corner of the step. The drive wheel assembly 530 will then take over from the track wheel assembly 520 to continue driving the cleaning robot forward. This state is as follows: Figure 15 As shown.

[0110] As the drive wheel assembly 530 continues to propel the cleaning robot forward, the walking wheel assembly 500 will be completely above the step, at which point the cleaning robot will have completed the obstacle-crossing maneuver. The state after successfully crossing the obstacle is as follows: Figure 16As shown. Under the influence of gravity and other factors, the front end of the cleaning robot will descend, making the bottom surface of the chassis assembly 100 parallel to the upper surface of the step, thus ending the obstacle-crossing process.

[0111] Additionally, the portable cleaner disclosed herein may include a tilt sensor disposed on the chassis assembly 100 to detect the tilt angle of the chassis assembly 100. When the chassis assembly 100 is placed on a generally horizontal surface to be cleaned, the detected tilt angle value is 0°. Thus, the sign of the detected tilt angle value can be used to determine whether the portable cleaner is in an uphill or downhill state. Specifically, when the portable cleaner is in an uphill state, the detected tilt angle value is positive; when the portable cleaner is in a downhill state, the detected tilt angle value is negative.

[0112] More preferably, the mobile cleaner of this disclosure may further include a distance sensor mounted at the front end of the chassis assembly 100 and positioned near the auxiliary wheel assembly 400 at the front end. In this case, the distance sensor is used to detect the straight-line distance between the front end of the chassis assembly of the mobile cleaner and the surface to be cleaned.

[0113] The mobile cleaner disclosed herein may further include a controller capable of being connected to a tilt sensor to control the movement of the walking wheel assembly and the auxiliary wheel assembly based on a detected value of the tilt angle of the chassis assembly detected by the tilt sensor. Alternatively, the controller may be connected to both a tilt sensor and a distance sensor to control the movement of the walking wheel assembly and the auxiliary wheel assembly based on a detected value of the tilt angle of the chassis assembly detected by the tilt sensor and a detected value of the straight-line distance detected by the distance sensor.

[0114] Based on the above obstacle-crossing process, this disclosure provides an operating method for a mobile cleaner.

[0115] Figure 17 This is a flowchart of an operation method for a portable cleaner according to one embodiment of the present disclosure.

[0116] The operation method of the mobile cleaner disclosed herein includes: S1010, in the initial climbing state where the walking wheel assembly climbs onto the edge of an obstacle causing the chassis assembly to tilt, determining whether it is necessary to drive the auxiliary wheel assembly to extend outward, based at least on the detection value of the tilt angle of the chassis assembly detected by the tilt sensor; when the auxiliary wheel assembly needs to extend outward, driving the auxiliary wheel assembly to extend outward to change the distance between the auxiliary wheel assembly and the chassis assembly; S1020, maintaining the elastic repulsive force between the auxiliary wheel assembly and the chassis assembly.

[0117] Therefore, after overcoming an obstacle, when the auxiliary wheel assembly 400 at the front end of the mobile cleaner has not landed, the mobile cleaner can obtain the tilt angle of the chassis assembly 100 and determine whether the auxiliary wheel assembly 400 needs to be extended or retracted based on the tilt angle, thereby effectively reducing the impact of the mobile cleaner during the grounding process and enhancing its passability and protection.

[0118] In this disclosure, when the detected tilt angle is greater than or equal to a first reference value, the drive auxiliary wheel assembly extends outward to a first distance, which is the maximum extension distance. This extension distance refers to the vertical distance from the outermost end of the auxiliary wheel assembly (i.e., the roller) to the bottom surface of the chassis assembly. When the auxiliary wheel assembly is at its maximum extension distance, the inner frame is in a second position. That is, when the obstacle the mobile cleaner is traversing is high, the auxiliary wheel assembly can extend to its maximum length, thereby increasing the buffer distance and effectively reducing the possibility of the chassis assembly impacting the surface to be cleaned, thus improving the user experience.

[0119] Furthermore, when the detected tilt angle is greater than or equal to the second reference value and less than the first reference value, the drive auxiliary wheel assembly extends outward to a second distance, which is a function of the detected tilt angle. In other words, when the obstacle traversed by the mobile cleaner is a general obstacle, the auxiliary wheel assembly does not need to extend to its maximum length, but rather to a reasonable length. This allows the auxiliary wheel assembly to reach this reasonable length in a shorter time, and also requires only a short time to retract. Consequently, the drive device of this disclosure operates for a shorter time, reducing power consumption and increasing the battery life of the mobile cleaner.

[0120] In a preferred embodiment, the function can be a linear function. Of course, the function disclosed herein can also be other functions, and this disclosure is not limited thereto.

[0121] In the initial climbing state, the walking wheel assembly is stopped, and the tilt angle is remeasured and corrected. Thus, the mobile cleaner of this disclosure can obtain a more accurate tilt angle detection value, and correspondingly, the extension length of the auxiliary wheel assembly can be more precisely controlled based on this tilt angle detection value.

[0122] In this disclosure, when the detected tilt angle is greater than or equal to a first reference value, the specific area corresponding to the obstacle location on the map is stored as a climbable, fall-prevention zone. Therefore, in this mobile cleaner, by updating the map stored internally, more information useful for the mobile cleaner's operation can be marked on the map, improving the mobile cleaner's level of intelligence.

[0123] After the initial climbing phase, the tilt angle value is continuously monitored. In other words, once the mobile cleaner's auxiliary wheel assembly is ready for ground contact, it needs to be retracted at the appropriate time. Therefore, the change in the mobile cleaner's tilt angle value during obstacle crossing can be used to determine whether the mobile cleaner has successfully crossed the obstacle. Once the mobile cleaner has successfully crossed the obstacle, the auxiliary wheel assembly can be retracted at least partially into the chassis assembly.

[0124] For example, after the initial climbing state, the walking wheel assembly climbs onto the upper surface of the obstacle or drives on the upper surface of the obstacle until it detaches from it. The upper surface of the obstacle is a surface connected to the edge of the obstacle. That is, when the mobile cleaner walks on the upper surface of the obstacle, the tilt angle of the mobile cleaner can be 0°. Therefore, the current state of the mobile cleaner can be accurately determined by the tilt angle of the mobile cleaner.

[0125] When the detected tilt angle is less than or equal to 0, the auxiliary wheel assembly should remain extended outwards. In other words, the mobile cleaner is in a landing state after overcoming an obstacle. If the auxiliary wheel assembly retracts too early, the chassis assembly will still impact the surface to be cleaned. Therefore, the auxiliary wheel assembly needs to remain extended outwards.

[0126] On the other hand, based on the continuously detected tilt angle, until the detected tilt angle is less than the second reference value for a period of time, the drive auxiliary wheel assembly retracts inward to the initial distance, and the second reference value is greater than 0.

[0127] In other words, the mobile cleaner is currently in its normal driving state after overcoming the obstacle. If the auxiliary wheel assembly remains extended, it will affect the normal cleaning operation of the mobile cleaner. Since the auxiliary wheel assembly of the mobile cleaner is still extended immediately after overcoming the obstacle, the chassis assembly of the mobile cleaner will be tilted, and the tilt angle of the chassis assembly will be positive. Therefore, in this disclosure, when the detected tilt angle is greater than or equal to 0° and less than the second reference value for one time period, the auxiliary wheel assembly is driven to retract inward to an initial distance. At this initial distance, the inner frame is in a first position, at which point the auxiliary wheel assembly will have the minimum outward extension distance.

[0128] Figure 18 This is a flowchart of an operation method for a portable cleaner according to another embodiment of the present disclosure.

[0129] In another embodiment, the operation method of the mobile cleaner disclosed herein includes: S2010, in the initial climbing state where the walking wheel assembly climbs onto the edge of an obstacle causing the chassis assembly to tilt, determining whether it is necessary to drive the auxiliary wheel assembly to extend outward, based at least on the detection value of the tilt angle of the chassis assembly detected by the tilt sensor and the detection value of the straight-line distance detected by the distance sensor; when the auxiliary wheel assembly needs to extend outward, driving the auxiliary wheel assembly to extend outward to change the distance between the auxiliary wheel assembly and the chassis assembly; S2020, maintaining the elastic repulsive force between the auxiliary wheel assembly and the chassis assembly.

[0130] Therefore, after overcoming an obstacle, when the auxiliary wheel assembly 400 at the front end of the mobile cleaner has not touched the ground, the mobile cleaner can obtain the tilt angle and / or the straight distance from the ground of the chassis assembly 100 (i.e., the height of the front end of the mobile cleaner from the ground), and determine whether the auxiliary wheel assembly 400 needs to be extended or retracted based on the tilt angle and / or the straight distance from the ground, thereby effectively reducing the impact of the mobile cleaner during the grounding process and enhancing its passability and protection.

[0131] The detection values ​​based on the tilt angle and the straight-line distance include the following: when the detection value of the tilt angle is greater than or equal to a third reference value or the detection value of the straight-line distance is greater than or equal to a fifth reference value, the drive auxiliary wheel assembly extends outward to a first distance, where the first distance is the maximum extension distance.

[0132] Based on the detection values ​​of tilt angle and straight-line distance, when either the detection value of tilt angle is greater than or equal to a third reference value or the detection value of straight-line distance is greater than or equal to a fifth reference value, the drive auxiliary wheel assembly extends outward to a first distance, which is the maximum extension distance. Therefore, the mobile cleaner of this disclosure effectively prevents the mobile cleaner from touching the ground at a large height after overcoming obstacles by jointly controlling the outward extension distance of the auxiliary wheel assembly using two parameters: tilt angle and straight-line distance from the ground. In other words, the mobile cleaner of this disclosure can land on step obstacles.

[0133] When the detected tilt angle is greater than or equal to the fourth reference value and less than the third reference value, and the detected straight-line distance is greater than or equal to the sixth reference value and less than the fifth reference value, the drive auxiliary wheel assembly extends outward to a second distance, which is a function of the detected tilt angle and / or the detected straight-line distance. This function can be a linear function.

[0134] After the initial climbing state, the tilt angle and straight-line distance are continuously monitored. That is, when the obstacle traversed by the mobile cleaner is a general obstacle, the auxiliary wheel assembly does not need to extend to its maximum length, but rather to a reasonable length. This allows the auxiliary wheel assembly to reach that reasonable length in a shorter time, and also requires only a short time to retract. Consequently, the operating time of the drive device disclosed herein is shorter, reducing power consumption and increasing the mobile cleaner's battery life.

[0135] After the initial climbing state, the walking wheel assembly climbs onto the upper surface of the obstacle or drives on the upper surface of the obstacle until it detaches from the upper surface of the obstacle, which is the surface connected to the edge of the obstacle.

[0136] When the detected tilt angle is less than or equal to 0, the auxiliary wheel assembly should remain extended outwards. In other words, the mobile cleaner is in a landing state after overcoming an obstacle. If the auxiliary wheel assembly retracts too early, the chassis assembly will still impact the surface to be cleaned. Therefore, the auxiliary wheel assembly needs to remain extended outwards.

[0137] Based on the continuously detected tilt angle, the auxiliary wheel assembly is driven to retract inward to the initial distance until the detected tilt angle is less than the fourth reference value for one time period. The fourth reference value is then greater than 0.

[0138] In the above embodiments, the third reference value may be the same as the first reference value, and the fourth reference value may be the same as the second reference value.

[0139] The above technical solutions can optimize the obstacle-crossing logic of mobile cleaners, provide sufficient buffer travel upon landing, reduce hard impacts upon landing, lower obstacle-crossing noise, protect components from ground impacts, and extend service life.

[0140] Furthermore, the support frame disclosed herein may also be provided with a buffer pad, which may be made of materials such as rubber or silicone. In this case, when the support frame moves upward, the buffer pad can contact the support shell (or the inner frame), thereby providing double buffering for the support frame and significantly reducing the impact force and noise.

[0141] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0142] Furthermore, the terms "first" and "second" are used 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 as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0143] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. An auxiliary wheel assembly mounted to a chassis assembly of a mobile cleaner and located at a front and / or rear of the chassis assembly of the mobile cleaner, characterized in that, include: A support frame, wherein the lower end of the support frame protrudes from the chassis assembly, and the support frame is used to support and stabilize the chassis assembly; A roller, which is rotatably disposed at the lower end of the support frame; A drive assembly for driving the support frame to move in order to adjust the distance by which the support frame protrudes from the chassis assembly; as well as An elastic element is disposed between the drive assembly and the support frame to apply an external force to the support frame, which causes the support frame to tend to protrude downwards towards the chassis assembly. The lower end of the support frame can approach or move away from the drive assembly, and the elastic element is further compressed when the lower end of the support frame approaches the drive assembly.

2. The auxiliary wheel assembly of claim 1, wherein, The driving component includes: A support housing, the support housing being fixed to the chassis assembly; A drive device, disposed on the support housing and configured to generate rotational force; The worm gear portion is fixedly connected to the output shaft of the drive device; and A drive structure configured to guide the support frame to move relative to the support housing during rotation of the worm gear.

3. The auxiliary wheel assembly of claim 2, wherein, The driving structure includes: An outer frame is rotatably disposed on the support housing and has an internal thread; wherein the outer frame is configured to engage with the worm gear and be driven to rotate by the worm gear. An inner frame having an external threaded portion, the internal threaded portion being threadedly engaged with the external threaded portion; the inner frame is configured to generate vertical movement through the engagement of the internal threaded portion and the external thread.

4. The auxiliary wheel assembly of claim 3, wherein, The support housing includes a guide portion for limiting the rotation of the inner frame relative to the support housing, while allowing the guide portion to move in the vertical direction.

5. The auxiliary wheel assembly of claim 3, wherein, The inner frame includes a mounting groove for receiving a first end of the elastic element.

6. The auxiliary wheel assembly of claim 5, wherein, The inner frame includes a tubular member extending axially therein, and at least a portion between the tubular member and the inner wall of the inner frame forms the mounting groove for receiving a first end of the elastic member.

7. The auxiliary wheel assembly of claim 6, wherein, The support frame is configured to be coaxially inserted into the tubular member and is movable relative to the tubular member in its axial direction.

8. The auxiliary wheel assembly of claim 3, wherein, The outer peripheral surface of the outer frame is formed with a helical gear, which engages with the worm gear.

9. The auxiliary wheel assembly of claim 1, wherein, The upper end of the support frame is provided with a limiting part, which is used to limit the maximum displacement of the support frame relative to the drive assembly in the downward direction.

10. A mobile cleaner characterized by Includes the auxiliary wheel assembly according to any one of claims 1-9.

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