Chassis structure and cleaning device

Abstract

The application relates to a chassis structure and a cleaning device, a mounting seat; a driving assembly arranged on the mounting seat; a moving wheel assembly rotatably arranged on the mounting seat; a transmission assembly, one end of which is connected with the driving assembly, and the other end of which is connected with the moving wheel assembly; the transmission assembly is configured to be driven by the driving assembly to move, so that the moving wheel assembly rotates relative to the mounting seat; the moving wheel assembly is always in contact with the ground during rotation; the driving assembly and the transmission assembly constitute a driving mechanism, and act on the moving wheel assembly, so that the moving wheel assembly rotates relative to the mounting seat is accurately controlled, and the mounting seat is lifted as a whole under the premise that the moving wheel is always in contact with the ground, so that the obstacle is overcome; the arrangement not only improves the passability of the chassis structure to obstacles, but also ensures the stability of the movement of the chassis structure.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to chassis structures and cleaning devices. Background Technology

[0002] Cleaning devices such as robot vacuums and vacuum cleaners often encounter various obstacles during their movement. For slightly higher obstacles, the cleaning devices often cannot overcome them, which limits their working range and affects the user experience. Utility Model Content

[0003] Therefore, it is necessary to provide a chassis structure and cleaning device to address the problem that existing cleaning devices often cannot overcome slightly higher obstacles.

[0004] In a first aspect, embodiments of this application provide a chassis structure, the chassis structure comprising:

[0005] Mounting base;

[0006] The drive component is located on the mounting base;

[0007] A movable wheel assembly is rotatably mounted on the mounting base;

[0008] A transmission assembly, one end of which is connected to the drive assembly and the other end of which is connected to the movable wheel assembly, is configured to move under the drive of the drive assembly to cause the movable wheel assembly to rotate relative to the mounting base, and the movable wheel assembly is always in contact with the ground during rotation.

[0009] In one embodiment, the transmission assembly includes a linkage component and a pusher component, one end of the linkage component is connected to the output end of the drive assembly, and the other end is connected to the pusher component, with the end of the pusher component away from the linkage component abutting against the moving wheel assembly;

[0010] The pushing component is adapted to switch between a first position and a second position, wherein in the first position the mounting base is in a normal state and in the second position the mounting base is in an obstacle avoidance state.

[0011] In one embodiment, the linkage component includes a plurality of connecting rods hinged sequentially, wherein one of the connecting rods near the drive assembly is rotatably connected to the drive assembly;

[0012] One end of the pushing component is rotatably connected to the end of a connecting rod away from the drive assembly, so that the pushing component can switch between the first position and the second position through the linkage of the plurality of connecting rods.

[0013] In one embodiment, the plurality of connecting rods are defined as a first connecting rod, a second connecting rod, and a third connecting rod. The first connecting rod, the second connecting rod, and the third connecting rod are hinged sequentially. The mounting base is provided with a first connecting shaft. The second connecting rod is rotatably mounted on the mounting base about the first connecting shaft. The first connecting rod is rotatably connected to the driving component, and the third connecting rod is rotatably connected to the pushing component. The second connecting rod includes a first connecting segment and a second connecting segment that are connected to each other to form an included angle. The first connecting segment is hinged to the first connecting rod, and the second connecting segment is hinged to the third connecting rod.

[0014] In one embodiment, the mounting base is configured with a guide channel, and the pushing member is at least partially movably disposed in the guide channel.

[0015] In one embodiment, the guide channel is further provided with a first elastic member, one end of which is limited to the mounting base and the other end of which is limited to the pushing member; the first elastic member is configured to provide a restoring force to the pushing member during the process of the mounting base switching from the obstacle avoidance state to the normal state.

[0016] In one embodiment, the moving wheel assembly includes a walking wheel and a gearbox for driving the walking wheel to rotate; the gearbox has a first end and a second end disposed opposite to each other, the first end of the gearbox is rotatably disposed on the mounting base, the other end of the transmission assembly is connected to the second end of the gearbox, and the second end of the gearbox is close to the walking wheel relative to the first end of the gearbox; and the first end of the gearbox is disposed on the front side of the gearbox relative to the second end of the gearbox.

[0017] In one embodiment, the chassis structure includes at least two sets of transmission components, each set of transmission components corresponding to a different set of moving wheel components;

[0018] The drive assembly includes a drive motor and a rotating component. The rotating component is connected to the output end of the drive motor. The rotating component has at least two first mounting portions, which are arranged circumferentially around the output shaft of the drive motor. The first mounting portions are used to connect to the corresponding transmission assembly.

[0019] In one embodiment, the rotating member is further provided with at least one second mounting portion, which is arranged circumferentially around the output shaft of the drive motor;

[0020] The chassis structure also includes a driven wheel assembly and a guide assembly. One end of the guide assembly is rotatably connected to the second mounting part, and the other end is connected to the driven wheel assembly. The guide assembly is configured to convert the rotational motion of the rotating member into a linear motion acting on the driven wheel assembly relative to the mounting seat, so that the mounting seat switches between the normal state and the obstacle avoidance state, and the driven wheel assembly is always in contact with the ground.

[0021] In one embodiment, the guide assembly includes a plurality of guide rods and a guide member that are hinged to each other, one end of the guide member being fixedly connected to the driven wheel assembly, and the other end being connected to the end of one of the guide rods located away from the second mounting portion;

[0022] The mounting base has a guide groove, and the guide member is disposed in the guide groove.

[0023] In one embodiment, the chassis structure further includes a second elastic member, one end of which is limited to at least one of the plurality of guide rods, and the other end of which is limited to the mounting base or the guide member; the second elastic member is configured to provide a restoring force to the plurality of guide rods during the transition of the mounting base from the obstacle avoidance state to the normal state;

[0024] And / or, the driven wheel assembly includes a fixed bracket and a swivel wheel connected to each other, the fixed bracket being fixedly connected to the guide member.

[0025] In one embodiment, the plurality of guide rods are defined as a first guide rod, a second guide rod, and a third guide rod, which are sequentially hinged together; one end of the first guide rod is rotatably connected to the second mounting portion, and one end of the third guide rod is rotatably connected to the guide member;

[0026] The mounting base is provided with a second connecting shaft, and the second guide rod is rotatably mounted on the mounting base with the second connecting shaft as the pivot. The second guide rod includes a third connecting segment and a fourth connecting segment that are connected to each other and form an angle. The third connecting segment is hinged to the other end of the first guide rod, and the fourth connecting segment is hinged to the other end of the third guide rod.

[0027] Secondly, embodiments of this application provide a cleaning device, including the chassis structure described in the first aspect.

[0028] The aforementioned chassis structure and cleaning device constitute an active drive mechanism through drive components and transmission components, which acts on the moving wheel assembly to achieve precise control of the rotation of the moving wheel assembly relative to the mounting base, and to lift the mounting base as a whole while the moving wheel assembly is always in contact with the ground, so as to achieve the purpose of overcoming obstacles. This setting not only improves the chassis structure's ability to pass through obstacles, but also ensures the stability of the chassis structure's movement. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of a chassis structure provided according to some embodiments of this application.

[0030] Figure 2 This is a cross-sectional view of a chassis structure provided according to some embodiments of this application from one perspective.

[0031] Figure 3 for Figure 2 A schematic diagram of the structure at point A in the middle.

[0032] Figure 4 This is a schematic diagram of the overall structure of the chassis from another perspective, according to some embodiments of this application.

[0033] Figure 5 for Figure 4 A schematic diagram of the structure at point B.

[0034] Figure 6 This is a schematic diagram of the connection structure of the second guide rod and the third guide rod according to some embodiments of this application.

[0035] Figure 7 This is a schematic diagram of the connection structure of the second guide rod and the third guide rod from another perspective according to some embodiments of this application.

[0036] Figure 8 This is a cross-sectional structural diagram of a chassis structure from another perspective, according to some embodiments of this application.

[0037] Figure 9 for Figure 8 A schematic diagram of the structure at point C.

[0038] Icon labels:

[0039] 100. Mounting base; 101. Guide channel;

[0040] 200. Drive assembly; 210. Drive motor; 220. Rotating component; 221. First mounting part; 222. Second mounting part;

[0041] 300. Caster wheel assembly; 310. Gearbox; 320. Traveling wheels;

[0042] 400. Transmission assembly; 410. Linkage component; 411. First link; 412. Second link; 4121. First connecting section; 4122. Second connecting section; 413. Third link; 420. Pushing component; 430. First elastic element;

[0043] 510. Guide assembly; 511. First guide rod; 512. Second guide rod; 5121. Third connecting section; 5122. Fourth connecting section; 5123. First limiting block; 513. Third guide rod; 5131. Second limiting block; 520. Guide member; 530. Second elastic member; 540. Driven wheel assembly; 541. Fixed bracket; 542. Universal wheel. Detailed Implementation

[0044] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0045] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0046] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0047] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, or they can refer to abutment, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0048] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0049] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0050] As mentioned in the background section, cleaning devices such as robotic vacuum cleaners and sweeping robots are typically equipped with wheels or tracks for autonomous or semi-autonomous cleaning. However, in actual operation, these devices often encounter obstacles on the ground, such as thresholds, carpet edges, electrical wires, or small pieces of furniture. In related technologies, the chassis height of these devices is usually fixed, and their obstacle-crossing ability is limited by the minimum clearance between the wheels or the chassis and the ground. When the obstacle is slightly higher than this clearance, the device often cannot pass smoothly, leading to interruptions in the cleaning process, limited working range, and even potential damage to the equipment or impact on cleaning effectiveness due to repeated collisions with obstacles.

[0051] Based on the aforementioned problems, this application provides a chassis structure and cleaning device. The active drive mechanism is formed by a drive component and a transmission component, which acts on the moving wheel component to achieve precise control of the rotation of the moving wheel component relative to the mounting base. Under the premise that the moving wheels are always in contact with the ground, the mounting base is lifted as a whole to achieve the purpose of overcoming obstacles. This arrangement not only improves the chassis structure's ability to pass through obstacles, but also ensures the stability of the chassis structure's movement.

[0052] See Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the overall structure of a chassis structure provided according to some embodiments of this application. Figure 2 This is a cross-sectional view of a chassis structure provided according to some embodiments of this application. One embodiment of the chassis structure provided in this application may include a mounting base 100, a drive assembly 200, a moving wheel assembly 300, and a transmission assembly 400.

[0053] The drive assembly 200 is mounted on the mounting base 100; the movable wheel assembly 300 is rotatably mounted on the mounting base 100; one end of the transmission assembly 400 is connected to the drive assembly 200, and the other end is connected to the movable wheel assembly 300. The transmission assembly 400 is configured to move under the drive of the drive assembly 200 so that the movable wheel assembly 300 rotates relative to the mounting base 100, and the movable wheel assembly 300 is always in contact with the ground during rotation.

[0054] Understandably, the mounting base 100, as the load-bearing foundation and skeleton of the entire chassis structure, can be designed as a rigid component, such as being made of metal or high-strength engineering plastic. It can be part of the cleaning body and, in this example, is mainly used to mount the drive assembly 200, transmission assembly 400, and indirectly support the moving wheel assembly 300 in the chassis structure.

[0055] The drive assembly 200 can be at least partially fixedly mounted on the mounting base 100; one end of the transmission assembly 400 is connected to the output end of the drive assembly 200, and the other end is linked to the moving wheel assembly 300; the moving wheel assembly 300 can be rotatably mounted on the mounting base 100 via a rotating shaft or bearing seat.

[0056] The drive component 200, as a power source, may include a drive motor 210, such as a DC servo motor or a stepper motor with a gearbox, but is not specifically limited thereto. In this example, the drive component 200 is configured to receive instructions from the main control system of a smart home device (e.g., a cleaning device) (primarily referring to when encountering an obstacle) to start and rotate in a specific direction, thereby outputting driving torque. Specifically, the drive component 200 is directly or indirectly connected to the transmission component 400, driving the transmission component 400 to move.

[0057] In this example, the movable wheel assembly 300 may include a movable wheel (or a drive wheel) and its support arm (gearbox 310 below). The movable wheel may be driven by an independent walking motor, and one end of the gearbox 310 is rotatably connected to the mounting base 100 via a rotating shaft, so that the entire movable wheel assembly 300 can swing up and down.

[0058] In the non-lifting state (with the mounting base 100 in its normal state), the gearbox 310 is in its initial position under the action of gravity or a reset element. When lifting is required, the transmission assembly 400 acts on one end of the gearbox 310 to force the gearbox 310 to rotate around its axis. Since the moving wheel is always in contact with the ground, as a fulcrum, the rotation of the gearbox 310 is converted into the lifting or lowering motion of the mounting base 100 relative to the ground.

[0059] To achieve power transmission from the drive assembly 200 to the gearbox 310, that is, to convert the rotational motion of the drive assembly 200 into the oscillation of the moving wheel assembly 300, a transmission assembly 400 is provided between the drive assembly 200 and the moving wheel assembly 300. In this embodiment, the transmission assembly 400 can be a crank-connecting rod mechanism, a gear rack, a flexible connection assembly, a sector gear, a cam push rod, etc. More specifically, when the transmission assembly 400 is a crank-connecting rod mechanism, it can include a rotating disk or a wheel with an eccentric shaft, and a connecting rod mechanism; the rotating disk is fixed on the output shaft of the drive assembly 200, one end of the connecting rod mechanism is hinged to the edge of the rotating disk, and the other end is hinged or abutted to the gearbox 310 of the moving wheel assembly 300, without specific limitations; the rotation of the rotating disk is converted into the movement of the connecting rod mechanism, thereby converting it into the reciprocating oscillation of the gearbox 310, thereby controlling the lifting and lowering of the mounting base 100.

[0060] When the transmission component 400 is a gear rack or sector gear type, or a cam push rod type, it is also based on converting the rotation of the drive component 200 into linear motion, thereby realizing the linear movement of the other end of the transmission component 400, and acting on the moving wheel component 300, thereby realizing the swing of the moving wheel component 300, and realizing the purpose of controlling the lifting and lowering of the mounting base 100.

[0061] The chassis structure provided in this embodiment needs to receive obstacle-crossing signals from smart home devices (such as cleaning devices) in real time during operation. Obstacles can be detected by front-mounted sensors, and this information can be sent to the control system. The control system then sends the obstacle-crossing signal to the drive component 200. This can be understood by referring to related technologies, and will not be described in detail here. The drive component 200 starts and rotates based on the obstacle-crossing signal; it applies force to the transmission component 400 to convert the rotational motion into linear or oscillating thrust or pull. This thrust or pull can act on the moving wheel assembly 300 (gearbox 310). Since the moving wheel assembly 300 is always in contact with the ground during rotation, the mounting base 100 will rise under the action of the reaction force, actively increasing the ground clearance of the mounting base 100. After overcoming the obstacle, the drive component 200 reverses, driving the transmission component 400 to move in the opposite direction. The moving wheel assembly 300 will return to its initial position under the action of gravity, the return spring, and / or the transmission component 400 itself, and the mounting base 100 will also descend to its normal height.

[0062] In summary, the chassis structure provided in this application embodiment constitutes an active drive mechanism through the drive component 200 and the transmission component 400, which acts on the moving wheel component 300, thereby achieving precise control of the rotation of the moving wheel component 300 relative to the mounting base 100, and lifting the mounting base 100 as a whole while the moving wheel component 300 is always in contact with the ground, so as to achieve the purpose of overcoming obstacles. This setting not only improves the chassis structure's ability to pass through obstacles, but also ensures the stability of the chassis structure's movement.

[0063] Below, we will combine the appendix Figure 1 -Appendix Figure 9 The specific structure of the chassis structure provided in the embodiments of this application will be described in detail.

[0064] Reference Figure 2 and Figure 3 , Figure 3 for Figure 2 A schematic diagram of the structure at point A. In some embodiments, the transmission assembly 400 includes a linkage component 410 and a push component 420. One end of the linkage component 410 is connected to the output end of the drive assembly 200, and the other end is connected to the push component 420. The end of the push component 420 away from the linkage component 410 abuts against the moving wheel assembly 300. The push component 420 is adapted to switch between a first position and a second position. In the first position, the mounting base 100 is in a normal state, and in the second position, the mounting base 100 is in an obstacle avoidance state.

[0065] Understandably, when the pushing component 420 is in the first position, it does not exert a significant pushing force on the moving wheel assembly 300. The moving wheel assembly 300 is at its initial swing angle, the mounting base 100 is in its normal state, and the ground clearance is at the first height, suitable for cleaning operations on flat ground. When the pushing component 420 is in the second position, i.e., when obstacle crossing is required, the drive component 200 drives the pushing component 420 to the second position via the linkage component 410. In the second position, the pushing component 420 applies a pushing force to the moving wheel assembly 300, forcing the moving wheel assembly 300 to rotate around its axis. Since the moving wheel assembly 300 is in close contact with the ground as a fulcrum, this rotation ultimately results in the mounting base 100 being relatively lifted, thus placing it in an obstacle avoidance state with a ground clearance of the second height, which is greater than the first height.

[0066] In this embodiment, the rotational motion of the drive assembly 200 is converted into the linear (or near-linear) motion of the drive assembly 420 by combining the linkage component 410 and the push component 420, thereby accurately controlling the swing angle of the moving wheel assembly 300 and realizing the switching of the mounting base 100 between the normal state and the obstacle avoidance state.

[0067] Reference Figure 1 and Figure 2 In some embodiments, the linkage component 410 includes a plurality of connecting rods that are hinged in sequence, wherein a connecting rod closer to the drive component 200 is rotatably connected to the drive component 200; one end of the pushing component 420 is rotatably connected to the end of a connecting rod farther from the drive component 200, so that the pushing component 420 can be switched between a first position and a second position through the linkage of the plurality of connecting rods.

[0068] It is understood that a connecting rod near the drive assembly 200 can be directly connected to the output end of the drive assembly 200, or hinged to the rotating part 220 fixed to the output end of the drive assembly 200, without any specific restrictions.

[0069] During operation, the rotation of the drive assembly 200 drives the first connecting rod to move. Through the linkage of multiple connecting rods, the motion is finally transmitted to the end connecting rod, thereby realizing the switching of the push component 420 between the first and second positions.

[0070] It should be noted that the pushing component 420 in this embodiment can be connected by contact or abutment to transmit force to the moving wheel assembly 300.

[0071] This embodiment employs a multi-link mechanism, in which the lengths of multiple connecting rods and the positions of hinge points can be designed to optimize the motion trajectory and force transmission.

[0072] Reference Figure 2 and Figure 3 In some embodiments, multiple connecting rods are defined as a first connecting rod 411, a second connecting rod 412, and a third connecting rod 413. The first connecting rod 411, the second connecting rod 412, and the third connecting rod 413 are hinged sequentially. A first connecting shaft is provided on the mounting base 100. The second connecting rod 412 is rotatably mounted on the mounting base 100 about the first connecting shaft. The first connecting rod 411 is rotatably connected to the drive assembly 200, and the third connecting rod 413 is rotatably connected to the push component 420. The second connecting rod 412 includes a first connecting segment 4121 and a second connecting segment 4122 that are connected to each other to form an included angle. The first connecting segment 4121 is hinged to the first connecting rod 411, and the second connecting segment 4122 is hinged to the third connecting rod 413.

[0073] Specifically, the second link 412 is rotatably mounted on the mounting base 100 about the first connecting shaft, that is, the second link 412 becomes a swing lever. For ease of description, the second link 412 is decomposed into a first connecting segment 4121 and a second connecting segment 4122, and the first connecting segment 4121 and the second connecting segment 4122 are connected to each other and form an included angle, for example, the first connecting segment 4121 and the second connecting segment 4122 are at 90°, but no specific limitation is made.

[0074] During operation, the drive assembly 200 drives the first link 411 to move. The first link 411 pulls or pushes the first connecting section 4121 of the second link 412, causing the second link 412 to rotate around the first connecting shaft. The rotation of the second link 412 then pushes or pulls the third link 413 through its second connecting section 4122, and finally the third link 413 drives the push component 420 to move.

[0075] The three-bar linkage provided in this embodiment constitutes a stable planar motion mechanism. The second link 412 serves as the core lever. The angle between the first connecting segment 4121 and the second connecting segment 4122 can effectively amplify or convert motion and force, thereby enabling the pushing component 420 to obtain the required stroke and thrust. This allows the pushing component 420 to provide a larger pushing force to the moving wheel assembly 300, ensuring the stability and reliability of the lifting process.

[0076] Reference Figure 3 In some embodiments, the mounting base 100 is configured with a guide channel 101, and the pushing member 420 is at least partially movably disposed in the guide channel 101.

[0077] Specifically, in this example, the design of the guide channel 101 can constrain and guide the movement of the push component 420 to ensure that the push component 420 moves along a predetermined path and prevents it from swaying or getting stuck when subjected to force.

[0078] Reference Figure 3In some embodiments, a first elastic member 430 is also provided in the guide channel 101. One end of the first elastic member 430 is limited to the mounting base 100, and the other end is limited to the pushing member 420. The first elastic member 430 is configured to provide a restoring force to the pushing member 420 during the process of the mounting base 100 switching from the obstacle avoidance state to the normal state.

[0079] Understandably, the first elastic element 430, i.e., the spring, can provide a restoring force to the pushing component 420 during the process of the mounting base 100 switching from the obstacle avoidance state to the normal state, so as to assist the pushing component 420 and the connecting rod component 410 to quickly and smoothly return to the initial position.

[0080] In this embodiment, the guide channel 101, combined with the first elastic element 430, enables the automatic reset of the transmission component 400, reduces the dependence on the reverse drive accuracy of the drive component 200, and also plays a buffering role, making the transmission component 400 reset more gently, reducing the impact and noise between the components.

[0081] Reference Figure 3 In some embodiments, the moving wheel assembly 300 includes a walking wheel 320 and a gearbox 310 for driving the walking wheel 320 to rotate; the gearbox 310 has a first end and a second end disposed opposite to each other, the first end of the gearbox 310 is rotatably disposed on the mounting base 100, the other end of the transmission assembly 400 is connected to the second end of the gearbox 310, and the second end of the gearbox 310 is close to the walking wheel 320 relative to the first end of the gearbox 310; and the first end of the gearbox 310 is disposed on the front side of the gearbox 310 relative to the second end of the gearbox 310.

[0082] It is understandable that the front side in this example is the normal forward direction of the chassis structure (such as the chassis structure of a cleaning device). During operation, the pushing component 420 acts on the second end of the gearbox 310 near the walking wheel 320, while the hinge point between the first end of the gearbox 310 and the mounting base 100 is located on the front side. When the pushing component 420 pushes against the second end of the gearbox 310, since the walking wheel 320 is grounded as the fulcrum, the entire gearbox 310 will swing around the front hinge point as the axis, thereby lifting the mounting base 100 and achieving obstacle crossing.

[0083] Reference Figure 1 and Figure 4 , Figure 4This is a schematic diagram of the overall structure of the chassis structure from another perspective according to some embodiments of this application. In some embodiments, the chassis structure includes at least two sets of transmission components 400, each set of transmission components 400 corresponding to different moving wheel assemblies 300; the drive component 200 includes a drive motor 210 and a rotating member 220, the rotating member 220 is connected to the output end of the drive motor 210, the rotating member 220 is provided with at least two first mounting portions 221, the at least two first mounting portions 221 are arranged circumferentially around the output shaft of the drive motor 210; the first mounting portions 221 are used to connect the corresponding transmission components 400.

[0084] It is understood that the rotating component 220 in this embodiment can be a disc, a cam, or a triangular disc. Taking a triangular disc as an example, two first mounting portions 221 and one second mounting portion are respectively provided at the three corners of the triangular disc. The first mounting portion 221 is used to hinge the corresponding connecting rod. Similarly, the second mounting portion 222 is used to hinge the corresponding guide rod.

[0085] This embodiment uses a drive motor 210 and a specially designed rotating component 220 to synchronously control the lifting and lowering of multiple moving wheel assemblies, thereby ensuring the synchronicity and consistency of the lifting of each side of the chassis structure, avoiding equipment tilting or instability caused by lifting on one side, and this configuration is compact, which is conducive to the miniaturization of smart home devices.

[0086] Reference Figure 4 and Figure 5 , Figure 5 for Figure 4 The structural schematic diagram at point B. In some embodiments, the rotating member 220 is further provided with at least one second mounting portion 222, which is arranged circumferentially around the output shaft of the drive motor 210; the chassis structure also includes a driven wheel assembly 540 and a guide assembly 510, one end of the guide assembly 510 is rotatably connected to the second mounting portion 222, and the other end is connected to the driven wheel assembly 540. The guide assembly 510 is configured to convert the rotational motion of the rotating member 220 into a linear motion acting on the driven wheel assembly 540 relative to the mounting base 100, so that the mounting base 100 switches between a normal state and an obstacle avoidance state, and the driven wheel assembly 540 is always in contact with the ground.

[0087] Specifically, in order to make the overall lifting of the chassis structure more stable, especially for the multi-wheel structure cleaning device, a second mounting part 222 is also provided on the rotating part 220. The second mounting part 222 is also arranged circumferentially around the output shaft of the drive motor 210.

[0088] Additionally, the driven wheel assembly 540 in this example may include a caster wheel 542 (i.e., a driven wheel). When the rotating member 220 rotates, the driven wheel assembly 540 is driven downward relative to the mounting base 100 via the guide assembly 510. Since the driven wheel assembly 540 is always in contact with the ground, the mounting base 100 is pushed upward by the reaction force, thereby achieving synchronous lifting at the driven wheel position and assisting the overall obstacle crossing.

[0089] In this embodiment, the connection between the guide assembly 510 and the rotating component 220 enables the drive wheel and the driven wheel to move downwards simultaneously, ensuring that the chassis structure is raised horizontally as a whole when crossing obstacles, avoiding twisting or tilting, and also improving the stability and reliability of the obstacle crossing process.

[0090] Reference Figure 8 and Figure 9 , Figure 8 This is a cross-sectional structural diagram of a chassis structure from another perspective, according to some embodiments of this application. Figure 9 for Figure 8 A schematic diagram of the structure at point C. In some embodiments, the guide assembly 510 includes a plurality of guide rods and a guide member 520 that are hinged to each other. One end of the guide member 520 is fixedly connected to the driven wheel assembly 540, and the other end is connected to the end of a guide rod away from the second mounting portion 222. The mounting base 100 is configured with a guide groove, and the guide member 520 is disposed in the guide groove.

[0091] Specifically, by placing the guide member 520 within the guide groove, the guide member 520 can be constrained to move linearly only along a vertical or specific direction. In some embodiments, the chassis structure further includes a second elastic member 530, one end of which is limited to at least one of the plurality of guide rods, and the other end is limited to the mounting base 100 or the guide member 520; the second elastic member 530 is configured to provide a restoring force to the plurality of guide rods during the transition of the mounting base 100 from an obstacle avoidance state to a normal state. Specifically, during the transition of the mounting base 100 from an obstacle avoidance state to a normal state, the provision of the second elastic member 530 can provide a restoring force to the guide rods, thereby assisting the driven wheel assembly 540 in retraction.

[0092] Reference Figure 9 In one example, the driven wheel assembly 540 includes a fixed bracket 541 and a caster wheel 542 connected to each other, with the fixed bracket 541 fixedly connected to the guide member 520.

[0093] In this embodiment, the arrangement of multiple guide rods can amplify the small-angle rotation of the rotating member 220 into the large-stroke linear motion required by the guide member 520; and the arrangement of the guide groove ensures the accuracy of the vertical movement of the driven wheel assembly 540; and the arrangement of the second elastic member 530 can ensure that the entire guide assembly 510 can be quickly reset when the drive motor 210 reverses.

[0094] Reference Figure 5 , Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the connection structure of the second guide rod and the third guide rod according to some embodiments of this application. Figure 7 This is a schematic diagram of the connection structure of the second guide rod and the third guide rod from another perspective according to some embodiments of this application. In some embodiments, multiple guide rods are defined as a first guide rod 511, a second guide rod 512, and a third guide rod 513, which are sequentially hinged. One end of the first guide rod 511 is rotatably connected to the second mounting portion 222, and one end of the third guide rod 513 is rotatably connected to the guide member 520. A second connecting shaft is provided on the mounting base 100, and the second guide rod 512 is rotatably mounted on the mounting base 100 about the second connecting shaft. The second guide rod 512 includes a third connecting segment 5121 and a fourth connecting segment 5122 that are connected to each other and form an included angle. The third connecting segment 5121 is hinged to the other end of the first guide rod 511, and the fourth connecting segment 5122 is hinged to the other end of the third guide rod 513.

[0095] Specifically, the middle part of the fourth connecting section 5122 is rotatably mounted on the mounting base 100 via the second connecting shaft, and the third connecting section 5121 is horizontally arranged and connected to one end of the second elastic member 530. When the rotating member 220 rotates, the first guide rod 511 moves under the drive of the rotating member 220, and simultaneously drives the second guide rod 512 to rotate around the second connecting shaft. The second guide rod 512 drives the third guide rod 513 to move downward, and the driven wheel assembly 540 connected to the third guide rod 513 will move downward relative to the mounting base 100. At this time, the mounting base 100 rises relative to the ground.

[0096] Reference Figure 6 and Figure 7 In some embodiments, the fourth connecting segment 5122 is rotatably disposed on the mounting base 100, and the end of the fourth connecting segment 5122 facing the third guide rod 513 is provided with a first limiting block 5123, and the end of the third guide rod 513 facing the second guide rod 512 is provided with a second limiting block 5131.

[0097] It is understandable that the fourth connecting segment 5122 and the third guide rod 513 are set at an angle, and the first limiting block 5123 and the second limiting block 5131 are set so that the fourth connecting segment 5122 and the third guide rod 513 can contact each other when they move to their limit positions. This not only effectively converts the rotation of the fourth connecting segment 5122 into the linear motion of the third guide rod 513, but also prevents the guide assembly 510 from being over-bent or bent in the opposite direction, thereby playing a role in mechanical limiting and protection.

[0098] Based on the same concept, this application also provides a cleaning device, which includes the chassis structure described in the above embodiments.

[0099] It should be noted that the cleaning device in this embodiment includes various types of sweeping robots, vacuum cleaners, sweeping and mopping robots, mopping robots, and other devices that require the chassis structure described in the above embodiments, and will not be listed here one by one. The cleaning device provided in this embodiment not only has active obstacle-crossing capability, but also ensures stability during movement and has overall reliability.

[0100] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0101] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A chassis structure, characterized in that, The chassis structure includes: Mounting base (100); A drive assembly (200) is provided on the mounting base (100); A movable wheel assembly (300) is rotatably mounted on the mounting base (100). A transmission assembly (400) is connected at one end to the drive assembly (200) and at the other end to the movable wheel assembly (300). The transmission assembly (400) is configured to move under the drive of the drive assembly (200) to make the movable wheel assembly (300) rotate relative to the mounting base (100). The movable wheel assembly (300) is always in contact with the ground during rotation.

2. The chassis structure according to claim 1, characterized in that, The transmission assembly (400) includes a connecting rod component (410) and a pushing component (420). One end of the connecting rod component (410) is connected to the output end of the drive assembly (200), and the other end is connected to the pushing component (420). The end of the pushing component (420) away from the connecting rod component (410) abuts against the moving wheel assembly (300). The pushing component (420) is adapted to switch between a first position and a second position, in which the mounting base (100) is in a normal state and in the second position, the mounting base (100) is in an obstacle avoidance state.

3. The chassis structure according to claim 2, characterized in that, The linkage component (410) includes a plurality of connecting rods that are hinged in sequence, wherein one of the connecting rods near the drive assembly (200) is rotatably connected to the drive assembly (200); One end of the pusher (420) is rotatably connected to the end of a connecting rod away from the drive assembly (200) so that the pusher (420) can switch between the first position and the second position through the linkage of the plurality of connecting rods.

4. The chassis structure according to claim 3, characterized in that, The plurality of connecting rods are defined as a first connecting rod (411), a second connecting rod (412), and a third connecting rod (413). The first connecting rod (411), the second connecting rod (412), and the third connecting rod (413) are hinged in sequence. A first connecting shaft is provided on the mounting base (100). The second connecting rod (412) is rotatably mounted on the mounting base (100) with the first connecting shaft as the pivot. The first connecting rod (411) is rotatably connected to the drive assembly (200). The third connecting rod (413) is rotatably connected to the push component (420). The second connecting rod (412) includes a first connecting segment (4121) and a second connecting segment (4122) that are connected to each other to form an angle. The first connecting segment (4121) is hinged to the first connecting rod (411), and the second connecting segment (4122) is hinged to the third connecting rod (413).

5. The chassis structure according to claim 3, characterized in that, The mounting base (100) is configured with a guide channel (101), and the pushing member (420) is at least partially movably disposed in the guide channel (101).

6. The chassis structure according to claim 5, characterized in that, The guide channel (101) is further provided with a first elastic element (430), one end of the first elastic element (430) is limited to the mounting base (100), and the other end is limited to the pushing member (420); the first elastic element (430) is configured to provide a restoring force to the pushing member (420) during the process of the mounting base (100) switching from the obstacle avoidance state to the normal state.

7. The chassis structure according to any one of claims 1-6, characterized in that, The moving wheel assembly (300) includes a walking wheel (320) and a gearbox (310) for driving the walking wheel (320) to rotate; the gearbox (310) has a first end and a second end disposed opposite to each other, the first end of the gearbox (310) is rotatably disposed on the mounting base (100), the other end of the transmission assembly (400) is connected to the second end of the gearbox (310), and the second end of the gearbox (310) is close to the walking wheel (320) relative to the first end of the gearbox (310); and the first end of the gearbox (310) is disposed on the front side of the gearbox (310) relative to the second end of the gearbox (310).

8. The chassis structure according to any one of claims 2-6, characterized in that, The chassis structure includes at least two sets of transmission components (400), each set of transmission components (400) corresponding to a different set of moving wheel components (300). The drive assembly (200) includes a drive motor (210) and a rotating component (220). The rotating component (220) is connected to the output end of the drive motor (210). The rotating component (220) is provided with at least two first mounting portions (221), which are arranged circumferentially around the output shaft of the drive motor (210). The first mounting portions (221) are used to connect to the corresponding transmission assembly (400).

9. The chassis structure according to claim 8, characterized in that, The rotating component (220) is also provided with at least one second mounting portion (222), which is arranged circumferentially around the output shaft of the drive motor (210); The chassis structure also includes a driven wheel assembly (540) and a guide assembly (510). One end of the guide assembly (510) is rotatably connected to the second mounting part (222), and the other end is connected to the driven wheel assembly (540). The guide assembly (510) is configured to convert the rotational motion of the rotating member (220) into a linear motion acting on the driven wheel assembly (540) relative to the mounting base (100), so that the mounting base (100) switches between the normal state and the obstacle avoidance state, and the driven wheel assembly (540) is always in contact with the ground.

10. The chassis structure according to claim 9, characterized in that, The guide assembly (510) includes a plurality of guide rods and a guide member (520) that are hinged to each other. One end of the guide member (520) is fixedly connected to the driven wheel assembly (540), and the other end is connected to the end of one of the guide rods that is away from the second mounting part (222). The mounting base (100) is provided with a guide groove, and the guide member (520) is disposed in the guide groove.

11. The chassis structure according to claim 10, characterized in that, The chassis structure further includes a second elastic element (530), one end of which is limited to at least one of the plurality of guide rods, and the other end is limited to the mounting base (100) or the guide element (520); the second elastic element (530) is configured to provide a restoring force to the plurality of guide rods during the switching of the mounting base (100) from the obstacle avoidance state to the normal state; And / or, the driven wheel assembly (540) includes a fixed bracket (541) and a caster wheel (542) connected to each other, the fixed bracket (541) being fixedly connected to the guide (520).

12. The chassis structure according to claim 10, characterized in that, The plurality of guide rods are defined as a first guide rod (511), a second guide rod (512), and a third guide rod (513), which are hinged together in sequence; one end of the first guide rod (511) is rotatably connected to the second mounting part (222), and one end of the third guide rod (513) is rotatably connected to the guide member (520); The mounting base (100) is provided with a second connecting shaft, and the second guide rod (512) is rotatably mounted on the mounting base (100) with the second connecting shaft as the pivot. The second guide rod (512) includes a third connecting segment (5121) and a fourth connecting segment (5122) that are connected to each other and form an angle. The third connecting segment (5121) is hinged to the other end of the first guide rod (511), and the fourth connecting segment (5122) is hinged to the other end of the third guide rod (513).

13. A cleaning device, characterized in that, Includes the chassis structure as described in any one of claims 1-12.

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