Chassis mechanism and cleaning device

Abstract

The utility model provides a kind of chassis mechanism and cleaning equipment.The chassis mechanism is used in cleaning equipment, and the chassis mechanism includes: bottom shell, bottom shell has at least two avoidance openings;At least two moving assemblies, moving assembly is arranged at avoidance opening, and moving assembly includes drive wheel assembly, and at least a part of drive wheel assembly passes through avoidance opening and is stretched out and contacted with the surface to be cleaned;Driving structure, driving structure includes at least two driving parts, each driving part is detachably connected with each moving assembly, and drive wheel assembly is configured to be lifted relative to bottom shell by the change of the rotation direction of driving part.The utility model solves the problem of insufficient obstacle-crossing ability of the prior art cleaning equipment.

Description

Technical Field

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

[0002] Currently, cleaning equipment is an essential tool for household cleaning, and its performance and user experience are key concerns for manufacturers. Obstacle-crossing capability is a crucial indicator in the design of cleaning equipment, especially when facing various obstacles common in the home environment. However, existing cleaning equipment has significant limitations in obstacle-crossing, particularly when dealing with taller obstacles, where its performance is often unsatisfactory.

[0003] Specifically, existing cleaning equipment mainly overcomes obstacles by lifting casters. However, this method can only handle low obstacles. Once the height of the obstacle exceeds a certain threshold, the cleaning equipment cannot pass over it and can only detour or stop working, which limits its cleaning efficiency and scope of use. Utility Model Content

[0004] The main objective of this invention is to provide a chassis mechanism and a cleaning device to solve the problem of insufficient obstacle-crossing ability in existing cleaning devices.

[0005] To achieve the above objectives, according to one aspect of the present invention, a chassis mechanism is provided for use in a cleaning device. The chassis mechanism includes: a bottom shell having at least two clearance openings; at least two moving components disposed at the clearance openings, each moving component including a drive wheel assembly, at least a portion of which extends through the clearance opening and contacts the surface to be cleaned; and a drive structure including at least two drive units, each drive unit being detachably connected to each moving component, the drive wheel assembly being configured to rise and fall relative to the bottom shell by changing the rotation direction of the drive unit.

[0006] Furthermore, the drive structure also includes a drive source having at least two output shafts. Each drive unit is connected to each output shaft. When the drive source drives the output shaft to rotate in the first rotation direction, the drive unit moves toward the corresponding moving component and connects to the corresponding moving component, and drives the corresponding drive wheel assembly to swing in the first swing direction, thereby raising the bottom shell. When the drive source drives the output shaft to rotate in the second rotation direction, the drive unit moves away from the corresponding moving component and is spaced apart from the corresponding moving component, and the corresponding drive wheel assembly swings in the second swing direction, thereby lowering the bottom shell. The first rotation direction is opposite to the second rotation direction, and the first swing direction is opposite to the second swing direction.

[0007] Furthermore, the outer wall surface of the output shaft has a first threaded section, the first end of the drive unit is detachably connected to the moving component, the end face of the second end of the drive unit has a connecting hole, the wall surface of the connecting hole has a second threaded section, a part of the output shaft passes through the connecting hole, and the first threaded section and the second threaded section are engaged and connected.

[0008] Furthermore, the drive source also includes: a first drive motor having at least two drive shafts; at least two gearboxes, with the at least two drive shafts respectively connected to the at least two gearboxes, one end of the output shaft being connected to the gearbox, and the other end of the output shaft being threadedly connected to the drive unit.

[0009] Furthermore, the moving component also includes a swing shaft, which is detachably connected to the drive unit and connected to the drive wheel assembly, and the swing shaft is used to drive the drive wheel assembly to swing.

[0010] Furthermore, the drive wheel assembly includes: a drive wheel, at least a portion of which extends through the clearance opening and contacts the surface to be cleaned; a second drive motor connected to the drive wheel and used to drive the drive wheel to rotate; and a connecting part, to which both the drive wheel and the second drive motor are connected, and which is connected to the swing shaft.

[0011] Furthermore, one end of the swing shaft has a mating hole, and the driving part includes: a connecting section, which is connected to the output shaft of the driving structure; and a transmission section, one end of which is connected to the connecting section, and the other end of which can extend into the mating hole and connect with the mating hole.

[0012] Furthermore, each moving component has a trigger, and the bottom shell has a position switch that cooperates with the trigger. When the trigger moves to a preset position, it triggers the position switch. The position switch can trigger the cleaning equipment's ground clearance detection function and detect the lifting position.

[0013] Furthermore, the chassis mechanism also includes at least two elastic elements, each moving component has a first hook structure, the bottom shell has a second hook structure that cooperates with the first hook structure, one end of the elastic element is connected to the first hook structure, the other end of the elastic element is connected to the second hook structure, and the elastic element can pull the drive wheel assembly to swing along the first swing direction.

[0014] Furthermore, the chassis mechanism also includes a caster wheel assembly, which is disposed on the bottom shell and spaced apart from the drive wheel assembly. At least a portion of the caster wheel assembly is located below the bottom shell and in contact with the surface to be cleaned. The caster wheel assembly is configured to lift synchronously with the drive wheel assembly.

[0015] According to another aspect of the present invention, a cleaning device is provided, including a main body and the aforementioned chassis mechanism, the chassis mechanism being disposed on the main body.

[0016] The chassis mechanism of this utility model is used in a cleaning device. The chassis mechanism includes a bottom shell, at least two moving components, and a drive structure. The bottom shell has at least two clearance openings. The moving components are disposed at the clearance openings and include drive wheel assemblies. At least a portion of the drive wheel assembly extends through the clearance openings and contacts the surface to be cleaned. The drive structure includes at least two drive units, each drive unit being detachably connected to each moving component. The drive wheel assembly is configured to rise and fall relative to the bottom shell by changing the rotation direction of the drive unit.

[0017] By providing an obstacle avoidance opening on the bottom shell, a portion of the drive wheel assembly can pass through the opening and contact the ground. At least two drive units corresponding to the drive wheel assembly are configured, and these drive units can raise and lower the drive wheel assembly relative to the bottom shell based on changes in their rotation direction. When the cleaning equipment encounters an obstacle, the rotation direction of the drive units changes, causing the drive wheel assembly to lift upwards, thus overcoming the obstacle. Since the drive structure uses the drive wheel assembly to lift the bottom shell, and the drive wheel assembly can lift the bottom shell to a greater height than the caster wheel assembly, the obstacle-crossing ability of the cleaning equipment is effectively improved. Furthermore, this application uses a single drive structure to simultaneously drive at least two drive wheel assemblies to lift simultaneously, which helps ensure stability during the lifting process and effectively avoids the risk of the cleaning equipment tipping over. In addition, using the rotation direction of two drive units of the same drive structure to change the lifting and lowering of the drive wheel assembly relative to the bottom shell simplifies the internal mechanical structure of the cleaning equipment, reduces costs, and improves overall stability and reliability, enabling the cleaning equipment to complete cleaning tasks more efficiently and safely. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0019] Figure 1 A schematic diagram of the chassis mechanism of an optional embodiment of the present invention is shown;

[0020] Figure 2 It shows Figure 1 A structural diagram of the chassis mechanism from another angle;

[0021] Figure 3 It shows Figure 2 Enlarged view of point P in the middle;

[0022] Figure 4 It shows Figure 1 A schematic diagram of the structure of the China Mobile component;

[0023] Figure 5 It shows Figure 1 Schematic diagram of the central drive unit;

[0024] Figure 6 It shows Figure 1 Schematic diagram of the output shaft;

[0025] Figure 7 This diagram illustrates the state of the bottom shell when it is not raised in an optional embodiment of the present invention.

[0026] Figure 8 A schematic diagram of the state after the bottom shell is raised in an optional embodiment of the present invention is shown.

[0027] The above figures include the following reference numerals:

[0028] 10. Bottom shell; 11. Clearance opening; 12. Position switch; 13. Second hook structure; 20. Moving component; 21. Swing shaft; 211. Mating hole; 212. Guide hole section; 213. Connecting hole section; 22. Trigger; 23. First hook structure; 30. Drive wheel assembly; 31. Drive wheel; 32. Second drive motor; 33. Connecting part; 331. Limiting surface; 40. Drive structure; 41. Drive part; 411. Connecting hole; 412. Transmission section; 413. Connecting section; 414. First section; 415. Second section; 416. Guide slope; 42. Drive source; 421. First drive motor; 423. Gearbox; 43. Output shaft; 431. First threaded section; 50. Universal wheel assembly. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0031] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0032] To address the problem of insufficient obstacle-crossing ability in existing cleaning equipment, this utility model provides a chassis mechanism and a cleaning device.

[0033] like Figures 1 to 8As shown, the chassis mechanism is used in cleaning equipment. The chassis mechanism includes a base shell 10, at least two moving components 20, and a drive structure 40. The base shell 10 has at least two clearance openings 11. The moving components 20 are disposed at the clearance openings 11 and include drive wheel assemblies 30. At least a portion of the drive wheel assembly 30 extends through the clearance openings 11 and contacts the surface to be cleaned. The drive structure 40 includes at least two drive units 41. Each drive unit 41 is detachably connected to each moving component 20. The drive wheel assembly 30 is configured to rise and fall relative to the base shell 10 by changing the rotation direction of the drive unit 41.

[0034] By providing an obstacle avoidance opening 11 on the base shell 10, a portion of the drive wheel assembly 30 can pass through the opening and contact the ground. At least two drive units 41 corresponding to the drive wheel assembly 30 are also provided. These drive units 41 can raise and lower the drive wheel assembly 30 relative to the base shell 10 according to changes in rotation direction. When the cleaning equipment encounters an obstacle, the rotation direction of the drive unit 41 changes, driving the drive wheel assembly 30 to move, causing the base shell 10 to rise and thus overcome the obstacle. Since the drive structure 40 drives the drive wheel assembly 30 to lift the base shell 10, and the drive wheel assembly 30 can lift the base shell 10 to a greater height than the caster wheel assembly 50, the obstacle-crossing ability of the cleaning equipment can be effectively improved. Furthermore, this application uses the same drive structure 40 to simultaneously drive at least two drive wheel assemblies 30 to lift simultaneously, which helps ensure stability during the lifting process and effectively avoids the risk of the cleaning equipment tipping over. In addition, by using the rotation direction of the two drive units 41 of the same drive structure 40 to change the lifting and lowering of the drive wheel assembly 30 relative to the bottom shell 10, the internal mechanical structure of the cleaning equipment is simplified, the cost is reduced, and the overall stability and reliability are improved, enabling the cleaning equipment to complete the cleaning task more efficiently and safely.

[0035] In the solution using lifting casters, since the casters are driven wheels without driving force, they can get "stuck" by obstacles. At this point, the driving force is converted into a torque, attempting to "pry up" the entire cleaning device using the drive wheel assembly 30 as a fulcrum, thus lifting the casters off the ground. In the solution using the drive wheel assembly 30 lifting method of this application, when the sensor detects an obstacle, the control system actively commands the drive wheel assembly 30 to lift, directly increasing the ground clearance of the drive wheel assembly 30, allowing the entire robot to "step over" the obstacle. Lifting the drive wheel assembly 30 is an active and powerful obstacle-crossing method, and its upper limit is determined by engineering design and can be made very high. In contrast, lifting the casters is a passive method dependent on physical characteristics, and its upper limit is naturally limited by the robot's own size and leverage effect. Therefore, the height of the drive wheel assembly 30 lifting method is greater than that of the caster wheel lifting method, resulting in a higher obstacle-crossing capability.

[0036] In some alternative embodiments, please refer to Figure 1 There are two moving components 20 and one driving structure 40, with the driving structure 40 located in the area between the two moving components 20.

[0037] In some alternative embodiments, please refer to Figure 1 The drive structure 40 also includes a drive source 42, which has at least two output shafts 43. Each drive unit 41 is correspondingly connected to each output shaft 43. When the drive source 42 drives the output shaft 43 to rotate in a first rotation direction, the drive unit 41 moves towards the corresponding moving component 20 and connects to the corresponding moving component 20, driving the corresponding drive wheel assembly 30 to swing in a first swing direction, thereby raising the bottom shell 10. When the drive source 42 drives the output shaft 43 to rotate in a second rotation direction, the drive unit 41 moves away from the corresponding moving component 20 and is spaced apart from the corresponding moving component 20, and the corresponding drive wheel assembly 30 swings in a second swing direction, thereby lowering the bottom shell 10. The first rotation direction is opposite to the second rotation direction, and the first swing direction is opposite to the second swing direction. In this embodiment, the drive source 42 in the drive structure 40 has at least two output shafts 43, and each drive unit 41 is correspondingly connected to the output shaft 43. When the drive source 42 drives the output shaft 43 to rotate in the first rotation direction, the drive unit 41 moves towards the moving component 20, and through a meshing connection, drives the drive wheel assembly 30 to swing in the first swing direction, thereby raising the bottom shell 10. Conversely, when the drive source 42 rotates the output shaft 43 in the second rotation direction, the drive unit 41 moves away from the moving component 20, spaced apart from it. At this time, the drive wheel assembly 30 swings in the second swing direction, causing the bottom shell 10 to descend. The key to this design is that the rotation direction of the output shaft 43 controls the movement trajectory of the drive unit 41, which in turn determines the swing direction of the drive wheel assembly 30, realizing the switching between raising and lowering the bottom shell 10. The two rotation directions are opposite, and the two swing directions are also opposite, ensuring the smoothness and synchronization of the drive wheel assembly 30 during raising and lowering, thereby improving the obstacle-crossing ability and overall operational stability of the cleaning equipment in complex environments.

[0038] In other embodiments not shown in the figure, the drive structure 40 may employ different drive sources 42, such as servo motors or stepper motors, to achieve more precise control and higher efficiency. Simultaneously, the connection method between the drive unit 41 and the output shaft 43 may also differ, for example, using gear transmission or chain transmission. However, its core function remains the same: controlling the movement of the drive unit 41 by changing the rotation direction of the output shaft 43, thereby achieving the purpose of raising and lowering the drive wheel assembly 30.

[0039] In some alternative embodiments, please refer to Figure 6The outer wall of the output shaft 43 has a first threaded section 431. The first end of the drive unit 41 is detachably connected to the moving component 20. The end face of the second end of the drive unit 41 has a connecting hole 411. The wall of the connecting hole 411 has a second threaded section. A portion of the output shaft 43 passes through the connecting hole 411, and the first threaded section 431 and the second threaded section are engaged in a connection. In this embodiment, the first threaded section 431 on the outer wall of the output shaft 43 engages with the second threaded section on the inner wall of the connecting hole 411, forming a threaded connection mechanism. When the drive unit 41 and the moving component 20 are detachably connected, and a portion of the output shaft 43 passes through the connecting hole 411, this structure allows the output shaft 43 to interact with the second threaded section of the drive unit 41 through its first threaded section 431, achieving precise power transmission. By adjusting the rotation direction of the output shaft 43, not only can the movement of the drive unit 41 be precisely controlled, but the connection state between the drive unit 41 and the moving component 20 can also be switched, i.e., from a separated state to a connected state, and vice versa. This design reduces the number of mechanical parts while ensuring high efficiency and flexibility in power transmission, enabling the equipment to quickly adjust under various working conditions, thus improving its adaptability and work efficiency.

[0040] Specifically, when the output shaft 43 rotates in the first rotation direction, its first threaded section 431 propels the drive unit 41 to move until the drive unit 41 establishes a firm connection with the moving component 20. This allows the drive structure 40 to effectively transmit power to the moving component 20, achieving specific actions, such as lifting the base shell 10. Conversely, when the output shaft 43 rotates in the second rotation direction, the drive unit 41 disengages from the moving component 20, releasing the moving component 20 to move freely or reset. This threaded connection-based control strategy not only simplifies the structural complexity of the drive system but also ensures the synchronization and balance of the drive actions, significantly contributing to improving the stability and durability of the equipment. Furthermore, this mechanism allows for flexible adjustment of the relative positions of components at different stages of equipment operation, meeting the operational needs of the equipment in different environments, especially demonstrating its unique advantages in situations requiring precise positioning or dynamic adjustment. In subsequent embodiments, the threaded connection can be further optimized, for example, by changing the thread shape or material to enhance connection strength or wear resistance. These improvements will further enhance the overall performance and service life of the equipment.

[0041] In some alternative embodiments, please refer to Figure 1The drive source 42 also includes a first drive motor 421 and at least two gearboxes 423. The first drive motor 421 has at least two drive shafts; the at least two drive shafts are respectively connected to the at least two gearboxes 423. One end of the output shaft 43 is connected to the gearbox 423, and the other end of the output shaft 43 is threadedly connected to the drive unit 41. In this embodiment, the drive source 42 integrates the first drive motor 421, its at least two drive shafts, and the corresponding at least two gearboxes 423. This design allows one motor to simultaneously control the movement of two output shafts 43, thereby achieving dual-sided synchronous drive of the drive unit 41. The first drive motor 421 is connected to the gearboxes 423 through its drive shafts, and the gearboxes 423 are then connected to one end of the output shafts 43, while the other end of the output shafts 43 is threadedly connected to the drive unit 41. This layout not only simplifies the mechanical structure of the chassis mechanism and reduces manufacturing costs, but also ensures synchronicity and balance during the lifting process of the drive wheel assembly 30, avoiding body offset or vibration caused by unilateral drive. By precisely controlling the operation of the first drive motor 421, the output shaft 43 can accurately adjust the position of the drive unit 41, thereby achieving smooth lifting and lowering of the drive wheel assembly 30, enhancing the obstacle-crossing ability and stability of the cleaning equipment. Furthermore, because a threaded connection is used instead of a rigid connection, the drive wheel assembly 30 can still operate independently of the drive unit 41 even in the non-lifted state, ensuring that the safety detection function of the cleaning equipment at cliff edges is unaffected and guaranteeing the intelligent obstacle avoidance performance of the cleaning equipment. In subsequent embodiments, this design concept can be further optimized, for example, by adjusting the parameters of the reduction gearbox 423 or changing the thread type of the output shaft 43, to adapt to different types of ground cleaning needs and improve the overall efficiency of the cleaning equipment.

[0042] In some alternative embodiments, please refer to Figure 1 and Figure 4 The moving component 20 also includes a swing shaft 21, which is detachably connected to the drive unit 41 and connected to the drive wheel assembly 30. The swing shaft 21 is used to drive the drive wheel assembly 30 to swing. In this embodiment, the moving component 20 is detachably connected to the drive unit 41 via the swing shaft 21, and the swing shaft 21 is connected to the drive wheel assembly 30. Its design purpose is to drive the drive wheel assembly 30 to swing via the swing shaft 21. This connection mechanism allows the drive source 42 to switch the connection state between the drive unit 41 and the swing shaft 21 by changing the rotation direction of the output shaft 43 when controlling the drive wheel assembly 30 to lift. That is, the connection setting and the interval setting between the drive unit 41 and the swing shaft 21 are changed to ensure that the drive wheel assembly 30 can be accurately lifted when needed, and maintain normal function when it does not need to be lifted.

[0043] In some alternative embodiments, the swing of the drive wheel assembly 30 depends not only on the direct power of the drive unit 41, but also on the assistance of the elastic element. During the lifting process, the elastic force of the elastic element has a significant auxiliary effect, which optimizes the lifting efficiency and stability of the drive wheel assembly 30 and ensures the smooth operation of the cleaning equipment under different terrains.

[0044] Furthermore, in some alternative embodiments, the caster wheel assembly 50 and the drive wheel assembly 30 are raised and lowered synchronously. This synchronous adjustment of the caster wheel assembly 50 ensures that the cleaning equipment maintains a stable three-point support state after being raised, allowing it to smoothly overcome even high obstacles, effectively improving its obstacle-crossing ability and cleaning performance. Controlling the raising of the left and right drive wheel assemblies 30 simultaneously with a single motor not only simplifies the mechanical structure and reduces costs but also ensures the consistency of the left and right drive wheel assemblies 30's movements, preventing machine vibration and enhancing the adaptability and stability of the cleaning equipment in complex environments.

[0045] In some alternative embodiments, please refer to Figure 4 The drive wheel assembly 30 includes a drive wheel 31, a second drive motor 32, and a connecting part 33. At least a portion of the drive wheel 31 extends through the clearance opening 11 and contacts the surface to be cleaned. The second drive motor 32 is connected to the drive wheel 31 and is used to drive the drive wheel 31 to rotate. Both the drive wheel 31 and the second drive motor 32 are connected to the connecting part 33, which is connected to the swing shaft 21. In this embodiment, the drive wheel assembly 30 includes a drive wheel 31, a second drive motor 32, and a connecting part 33. The drive wheel 31 directly contacts the surface to be cleaned by passing through the clearance opening 11 of the bottom shell 10 through a portion of its structure, thereby enabling the movement of the cleaning device. The second drive motor 32 is connected to the drive wheel 31 and is responsible for driving the rotation of the drive wheel 31, thereby propelling the cleaning device forward or backward. The connecting part 33 acts as an intermediary, connecting to the drive wheel 31 and the second drive motor 32 to ensure they work together as a whole. Furthermore, the connecting part 33 connects to the swing shaft 21, allowing the movement of the drive wheel 31 to be converted into lifting or lowering motions through the swing of the swing shaft 21. This design achieves effective linkage between the drive wheel assembly 30 and the drive structure 40. The second drive motor 32 not only handles the rotation of the drive wheel 31 but also participates in the entire lifting process of the base shell 10 under the drive of the swing shaft 21, thus ensuring that the cleaning equipment can be smoothly lifted and overcome obstacles. In this way, this proposal effectively combines the functions of driving and lifting, improving the obstacle-crossing ability and operational stability of the cleaning equipment.

[0046] In some alternative embodiments, please refer to Figure 4The connecting part 33 has a limiting surface 331. When the cleaning equipment is working normally, the bottom shell 10 is pressed into its lowest position under the weight of the machine body. At this time, the limiting surface 331 abuts against the bottom shell 10, and the universal wheel and the drive wheel 31 are on the same plane, forming a three-point support. At this time, the swing shaft 21 and the drive part 41 are disconnected. The limiting surface 331 is located directly above the drive wheel 31 to avoid the bottom shell 10 interfering with the drive wheel 31.

[0047] In some alternative embodiments, please refer to Figure 4 One end of the swing shaft 21 has a mating hole 211. The drive unit 41 includes a connecting section 413 and a transmission section 412. The connecting section 413 is connected to the output shaft 43 of the drive structure 40. One end of the transmission section 412 is connected to the connecting section 413, and the other end of the transmission section 412 can extend into the mating hole 211 and connect with it. In this embodiment, one end of the swing shaft 21 is designed with a mating hole 211, while the drive unit 41 includes a connecting section 413 and a transmission section 412. The connecting section 413 forms a stable connection with the output shaft 43 of the drive structure 40, and one end of the transmission section 412 is connected to the connecting section 413, while the other end can extend into the mating hole 211 of the swing shaft 21 to achieve a precise mechanical connection. This structural design allows the movement of the drive unit 41 to be directly and effectively transmitted to the swing shaft 21. The rotation of the output shaft 43 drives the transmission section 412, thereby enabling the swing shaft 21 to respond to the movement command of the drive structure 40 and realize the lifting and lowering of the bottom shell 10. During the lifting of the bottom shell 10, the output shaft 43 of the drive structure 40 rotates, driving the transmission section 412 to extend into the mating hole 211, forming a power transmission chain. The drive wheel assembly 30 descends with the swing of the swing shaft 21, increasing the height of the drive wheel assembly 30 extending out of the clearance opening, thus lifting the bottom shell 10. During the descent of the bottom shell 10, the output shaft 43 rotates in the opposite direction, the transmission section 412 exits from the mating hole 211, and the bottom shell 10 automatically falls back under the action of gravity or auxiliary mechanisms, ensuring that the normal function of the drive wheel assembly 30 is not affected. At the same time, it simplifies the overall mechanical structure and improves the adaptability and stability of the cleaning equipment in complex environments.

[0048] In some alternative embodiments, please refer to Figure 5 The transmission section 412 includes a first section 414 and a second section 415 connected in sequence. In the extension direction perpendicular to the transmission section 412, the cross-sectional area of ​​the first section 414 is larger than the cross-sectional area of ​​the second section 415. The second section 415 is connected to the moving component 20 and is used to transmit torque. The first section 414 is connected to the connecting section 413.

[0049] In some alternative embodiments, please refer to Figure 5The connecting section 413 and the transmission section 412 can be fixed together by ultrasonic welding or adhesive application. At least the connecting section 413 has a connecting hole 411. Alternatively, the connecting section 413 and the transmission section 412 can each have a portion of a hole, which can be spliced ​​together to form the connecting hole 411. No specific limitation is made here.

[0050] In some alternative embodiments, please refer to Figure 5 The cross-section of the second segment 415 can be a hexagonal structure. The end of the second segment 415 away from the first segment 414 is provided with a guide slope 416, which is conducive to the smooth connection of the second segment 415 with the moving component 20.

[0051] In some alternative embodiments, please refer to Figure 4 One end of the swing shaft 21 has a mating hole 211, the shape of which is adapted to the shape of the second section 415. The mating hole 211 includes a guide hole section 212 and a connecting hole section 213 connected in sequence. The hole area of ​​the guide hole section 212 is larger than that of the connecting hole section 213, and the guide hole section 212 is located on the side of the connecting hole section 213 closer to the drive unit 41.

[0052] In some alternative embodiments, please refer to Figure 3 and Figure 4 Each moving component 20 has a trigger 22, and the base shell 10 has a position switch 12 that cooperates with the trigger 22. When the trigger 22 moves to a preset position, it triggers the position switch 12. The position switch 12 can trigger the ground clearance detection function of the cleaning equipment and detect the lifting position. In this embodiment, each moving component 20 is equipped with a trigger 22, and the base shell 10 is provided with a position switch 12 that cooperates with it. When the cleaning equipment is in operation, and the drive wheel assembly 30 and the universal wheel assembly 50 are lifted, the trigger 22 will touch the position switch 12 when it reaches the preset position. This mechanism can not only promptly activate the ground clearance detection function of the cleaning equipment to ensure that the equipment automatically and safely stops when encountering cliffs or suspended situations, but also accurately detect the lifting position and control the stability and accuracy during the lifting process. The triggering of the position switch 12 enables the cleaning equipment to respond intelligently, realize precise management of the lifting height of the base shell 10 and the obstacle crossing height, thereby optimizing the cleaning experience, avoiding manual intervention due to technical limitations, and improving the adaptability and safety of the equipment in complex home environments.

[0053] In some alternative embodiments, the position switch 12 may be a micro switch or a photoelectric switch.

[0054] In some alternative embodiments, the trigger 22 is disposed on the connecting portion 33.

[0055] In some alternative embodiments, please refer to Figure 3The chassis mechanism also includes at least two elastic elements. Each moving component 20 has a first hook structure 23, and the bottom shell 10 has a second hook structure 13 that cooperates with the first hook structure 23. One end of the elastic element is connected to the first hook structure 23, and the other end of the elastic element is connected to the second hook structure 13. The elastic element can pull the drive wheel assembly 30 to swing in a first swing direction. In this embodiment, the chassis mechanism further integrates at least two elastic elements connected to the first hook structure 23 of each moving component 20 and the second hook structure 13 of the bottom shell 10. These elastic elements can effectively pull the drive wheel assembly 30 to swing in the first swing direction. Specifically, when the cleaning equipment is in normal working condition, the elastic elements remain stretched due to the gravity of the bottom shell 10, ensuring that the drive wheel assembly 30 is in stable contact with the ground and providing the necessary friction to support the movement of the equipment and cleaning operations. However, when the cleaning equipment needs to cross obstacles for lifting operations, as the drive wheel assembly 30 is subjected to the rotational force of the drive source 42 and swings through the swing shaft 21, the tension of the elastic element is converted into auxiliary lifting power, causing the bottom shell to lift and overcome the obstacle. This design not only simplifies the mechanical structure of the cleaning equipment but also cleverly utilizes the dual function of elastic components—providing stability during routine cleaning and assisting in lifting when overcoming obstacles—significantly enhancing the adaptability and cleaning efficiency of the equipment. Furthermore, the synchronized adjustment of the lifting action of the drive wheel assembly 30 and the omnidirectional wheel assembly 50 ensures that the equipment maintains balance even during lifting, preventing tilting caused by unilateral lifting and thus improving equipment safety and user experience. Overall, through the precise coordination of elastic components and efficient control of the drive source, this embodiment enables the cleaning equipment to flexibly cope with complex environments, improving its obstacle-crossing ability and overall cleaning performance.

[0056] Furthermore, when the cleaning equipment is in normal working condition, the drive unit 41 in this application is disengaged from the corresponding moving component 20. When the cleaning equipment moves to the cliff position, the drive wheel assembly 30 is suspended in the air and rebounds under the action of the elastic member until the trigger member 22 triggers the position switch 12, thereby triggering the ground clearance detection function of the cleaning equipment and reporting that the cleaning equipment has stopped operating.

[0057] In some alternative embodiments, the elastic element may be a tension spring.

[0058] In some alternative embodiments, please refer to Figure 1 , Figure 7 and Figure 8The chassis mechanism also includes a caster wheel assembly 50, which is disposed on the bottom shell 10 and spaced apart from the drive wheel assembly 30. At least a portion of the caster wheel assembly 50 is located below the bottom shell 10 and in contact with the surface to be cleaned. The caster wheel assembly 50 is configured to lift synchronously with the drive wheel assembly 30. In this embodiment, the caster wheel assembly 50 of the cleaning device is disposed on the bottom shell 10 and spaced apart from the drive wheel assembly 30. A portion of the structure of the caster wheel assembly 50 is located below the bottom shell 10 and remains in contact with the surface to be cleaned. By design, the caster wheel assembly 50 is configured to lift synchronously with the drive wheel assembly 30. This synchronous lifting mechanism ensures that the lifting process of the bottom shell 10 of the cleaning device is smooth and efficient when encountering obstacles. When the drive wheel assembly 30 is lifted by the output of the drive source 42, the caster wheel assembly 50 can move downward synchronously under the action of the internal lifting mechanism, maintaining the three-point support state of the cleaning device during the lifting process, thereby improving the stability when crossing obstacles and enabling the cleaning device to overcome higher obstacles. The synchronous operation design not only enhances the obstacle-crossing ability of the cleaning equipment but also maintains its ground-lift detection function during normal cleaning, ensuring the safety and reliability of the equipment in different working environments. Furthermore, achieving synchronous lifting of the left and right drive wheel assemblies 30 using a single motor simplifies the equipment structure, reduces manufacturing costs, and minimizes problems caused by complex mechanisms, such as machine vibration due to inconsistent left and right lifting, thereby significantly improving the performance of the cleaning equipment and the user experience. In other embodiments not shown, the lifting mechanism of the caster wheel assembly 50 can also be a helical mechanism, achieving alternating lifting and lowering motion through adjustments in different directions of rotation, further optimizing the lifting and lowering process of the equipment and enhancing its flexibility and adaptability.

[0059] In some alternative embodiments, the cleaning equipment includes a main body and the aforementioned chassis mechanism, with the chassis mechanism mounted on the main body. The cleaning equipment with the aforementioned chassis mechanism has left and right drive wheel assemblies 30 driven by the same drive structure 40, lifting and rotating synchronously. This simple structure helps reduce costs and ensures consistent movement of the left and right drive wheel assemblies 30, guaranteeing machine stability. During normal operation, the swing shaft 21 is disconnected from the drive unit 41, without affecting the ground clearance detection function. The synchronous lifting of the drive wheel assembly 30 and the universal wheel assembly 50 over obstacles results in smoother operation and allows for greater obstacle clearance heights.

[0060] In some alternative embodiments, the cleaning device may be a robotic vacuum cleaner.

[0061] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0062] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0063] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0064] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A chassis mechanism, characterized in that, The chassis mechanism is used in the cleaning equipment, and the chassis mechanism includes: A bottom shell having at least two clearance openings; At least two moving components are disposed at the clearance opening, each moving component including a drive wheel assembly, at least a portion of which extends through the clearance opening and contacts the surface to be cleaned; A drive structure comprising at least two drive units, each drive unit being detachably connected to each of the moving components, the drive wheel assembly being configured to rise and fall relative to the base shell by changing the rotational direction of the drive units.

2. The chassis mechanism according to claim 1, characterized in that, The drive structure further includes a drive source having at least two output shafts. Each drive unit is correspondingly connected to each output shaft. When the drive source drives the output shaft to rotate in a first rotation direction, the drive unit moves toward the corresponding moving component and connects to the corresponding moving component, and drives the corresponding drive wheel assembly to swing in a first swing direction, thereby raising the bottom shell. When the drive source drives the output shaft to rotate in a second rotation direction, the drive unit moves away from the corresponding moving component and is spaced apart from the corresponding moving component, and the corresponding drive wheel assembly swings in a second swing direction, thereby lowering the bottom shell. Wherein, the first rotation direction is opposite to the second rotation direction, and the first swing direction is opposite to the second swing direction.

3. The chassis mechanism according to claim 2, characterized in that, The outer wall of the output shaft has a first threaded section, the first end of the drive unit is detachably connected to the moving component, the end face of the second end of the drive unit has a connecting hole, the wall of the connecting hole has a second threaded section, a part of the output shaft passes through the connecting hole, and the first threaded section and the second threaded section are engaged and connected.

4. The chassis mechanism according to claim 2, characterized in that, The driving source also includes: A first drive motor, the first drive motor having at least two drive shafts; At least two gearboxes are provided, and at least two drive shafts are respectively connected to the at least two gearboxes. One end of the output shaft is connected to the gearbox, and the other end of the output shaft is threaded to the drive unit.

5. The chassis mechanism according to claim 1, characterized in that, The moving component also includes a swing shaft, which is detachably connected to the drive unit and connected to the drive wheel assembly. The swing shaft is used to drive the drive wheel assembly to swing.

6. The chassis mechanism according to claim 5, characterized in that, The drive wheel assembly includes: A drive wheel, at least a portion of which extends through the clearance opening and contacts the surface to be cleaned; A second drive motor is connected to the drive wheel and is used to drive the drive wheel to rotate. The connecting part is connected to both the drive wheel and the second drive motor, and the connecting part is connected to the swing shaft.

7. The chassis mechanism according to claim 5, characterized in that, One end of the swing shaft has a mating hole, and the driving part includes: A connecting segment, wherein the connecting segment is connected to the output shaft of the drive structure; The transmission section has one end connected to the connecting section and the other end of the transmission section can extend into the mating hole and connect to the mating hole.

8. The chassis mechanism according to any one of claims 1 to 7, characterized in that, Each of the moving components has a trigger, and the bottom shell has a position switch that cooperates with the trigger. When the trigger moves to a preset position, it triggers the position switch. The position switch can trigger the ground-lift detection function of the cleaning equipment and detect the lifting position.

9. The chassis mechanism according to claim 8, characterized in that, The chassis mechanism further includes at least two elastic elements, each of the moving components has a first hook structure, the bottom shell has a second hook structure that cooperates with the first hook structure, one end of the elastic element is connected to the first hook structure, the other end of the elastic element is connected to the second hook structure, and the elastic element can pull the drive wheel assembly to swing along a first swing direction.

10. The chassis mechanism according to any one of claims 1 to 7, characterized in that, The chassis mechanism also includes a caster wheel assembly, which is disposed on the bottom shell and spaced apart from the drive wheel assembly. At least a portion of the caster wheel assembly is located below the bottom shell and in contact with the surface to be cleaned. The caster wheel assembly is configured to lift synchronously with the drive wheel assembly.

11. A cleaning device, characterized in that, include: main body; The chassis mechanism according to any one of claims 1 to 10, wherein the chassis mechanism is disposed on the main body.

Images