Chassis lifting mechanism and mobile device

Abstract

The present disclosure provides a chassis lifting mechanism and a mobile device, which are applied to a chassis of a mobile device and include a running wheel mechanism and a lifting mechanism. The running wheel mechanism is arranged on the chassis in a liftable manner. The lifting mechanism has a liftable driving end connected to the running wheel mechanism to drive the running wheel mechanism to lift by using the driving end. The running wheel mechanism and the lifting mechanism are distributed along a horizontal direction. The chassis lifting mechanism and the mobile device provided by the present disclosure not only solve the problem of weak obstacle crossing ability and easy jamming caused by the traditional fixed universal wheel, but also can transfer the weight of the device to the working part by compressing the universal wheel in the working scene, thereby improving the working effect.

Description

Technical Field

[0001] This disclosure relates to the field of mobile device technology, and more specifically to a chassis lifting mechanism and a mobile device. Background Technology

[0002] As the variety of self-cleaning devices increases, users are also exploring more diverse usage scenarios for these devices. Currently, most mobile devices on the market have fixed-position casters, making it difficult to meet the diverse needs of "normal walking, obstacle crossing in complex terrain, and increased cleaning pressure." These issues directly limit the adaptability of mobile devices to complex environments, reducing their operational efficiency and user experience. Utility Model Content

[0003] The purpose of this disclosure is to address the technical problems in related technologies by providing a chassis lifting mechanism and a mobile device. The specific solution is as follows:

[0004] A first aspect of this application provides a chassis lifting mechanism applied to the chassis of a mobile device, comprising: a driving wheel mechanism, which is elliptically mounted on the chassis; and a lifting mechanism having a elliptically mounted drive end connected to the driving wheel mechanism to drive the driving wheel mechanism to lift; wherein the driving wheel mechanism and the lifting mechanism are distributed along a horizontal direction.

[0005] In some embodiments, the lifting mechanism includes a lifting component and a driving component, the driving end is disposed on the lifting component, and the driving component is used to drive the driving end of the lifting component to rise and fall. The traveling wheel mechanism, the lifting component, and the driving component are distributed along the horizontal direction.

[0006] In some embodiments, the chassis is provided with a mounting base, the mounting base is fixedly installed on the chassis, the driving wheel mechanism is disposed close to the mounting base, and the lifting assembly and the driving assembly are mounted on the mounting base.

[0007] In some embodiments, the lifting assembly includes a lifting structure and a mating component. One end of the mating component is the driving end. A portion of the mating component is connected to the lifting structure, and another portion is connected to the drive wheel assembly. The lifting structure is used to drive the mating component to lift, so as to use the lifting of the mating component to drive the drive wheel assembly to lift.

[0008] In some embodiments, the lifting structure is a lead screw, the axial direction of which is arranged along the height direction, the lead screw is rotatably connected to the mounting base, the mating part is threadedly engaged with the lead screw, and the driving assembly is used to drive the lead screw to rotate, thereby using the lead screw to drive the mating part to rise and fall.

[0009] In some embodiments, a first gear is fixed to the end of the lead screw, and the drive assembly includes a drive member and a gear train. The gear train has an input end and an output end. The input end is connected to the output shaft of the drive member, and the output end meshes with the first gear.

[0010] In some embodiments, the mounting base has a first cavity and a second cavity from top to bottom, the input end is located in the second cavity, and the output end and the first gear are located in the first cavity.

[0011] In some embodiments, the lifting assembly further includes a guide member, which is fixedly mounted on the mounting base. The axial direction of the guide member is arranged along the height direction, and the guide member slides in engagement with the mating member.

[0012] In some embodiments, the lifting structure includes a pull rope, an elastic element, and a guide element. The guide element is fixedly mounted on the mounting base, and its axial direction is along the height direction. The mating element slides with the guide element. The elastic element is disposed between the mating element and the mounting base. One end of the pull rope is connected to the mating element, and the other end is connected to the drive assembly. The drive assembly has a first rotation direction and a second rotation direction. When the drive assembly rotates in the first rotation direction, it winds up the pull rope to lower the mating element, and the mating element compresses the elastic element during the descent. When the drive assembly rotates in the second rotation direction, it releases the pull rope, and the elastic force of the elastic element is released to raise the mating element.

[0013] In some embodiments, the chassis lifting mechanism further includes a position detection component, which includes an optical coupler unit and a baffle. The optical coupler unit is connected to the chassis, and the baffle is connected to the driving wheel mechanism. The baffle can move with the driving wheel mechanism to block or detach from the detection optical path of the optical coupler unit.

[0014] In some embodiments, the optocoupler unit includes at least two optocoupler sensors arranged sequentially from top to bottom, and the baffle can follow the driving wheel mechanism to pass through each of the optocoupler sensors respectively.

[0015] In some embodiments, the spacing between two adjacent optocouplers is greater than or equal to the height of the baffle.

[0016] In some embodiments, the chassis is provided with a limiting part, which is located at the highest point of the lifting path of the traveling wheel mechanism, and the limiting part is used to limit the highest rising position of the traveling wheel mechanism during the lifting process.

[0017] In some embodiments, the chassis is provided with a limiting part, which is located at the lowest point of the lifting path of the drive end, and the limiting part is used to limit the lowest descent position of the drive end during the lifting process.

[0018] In some embodiments, one of the mating member and the driving wheel mechanism is provided with a slot, and the other is provided with an insertion part. The insertion part and the slot are inserted and mated to realize the connection between the drive end and the driving wheel mechanism.

[0019] In some embodiments, one of the mating component and the driving wheel mechanism is provided with a first magnet, and the other is provided with a second magnet. The first magnet and the second magnet are magnetically connected to achieve the connection between the drive end and the driving wheel mechanism.

[0020] A second aspect of this application provides a mobile device, including the chassis lifting mechanism provided in the first aspect of this application.

[0021] Compared with related technologies, the above-described solutions of this disclosure have at least the following beneficial effects:

[0022] The chassis lifting mechanism provided in this disclosure uses a lifting mechanism to raise and lower the casters onto the chassis; it solves the problems of weak obstacle-crossing ability of mobile equipment and easy getting stuck on terrain such as thresholds and carpet edges, improves the adaptability of the equipment to complex terrain, increases the pressure of the wiping cloth component on the operating surface, optimizes the cleaning operation effect, ensures the safety of structural operation, and extends the service life of the equipment.

[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0025] Figure 1 This is a schematic diagram of a universal wheel adjustment structure according to an exemplary embodiment.

[0026] Figure 2 This is a cross-sectional view of a universal wheel adjustment structure according to an exemplary embodiment.

[0027] Figure 3 This is a schematic diagram of the structure of a driving component according to an exemplary embodiment.

[0028] Figure 4 This is a schematic diagram of the structure of another driving component according to an exemplary embodiment.

[0029] Figure label:

[0030] Chassis 1100, limiting part 1110, mounting base 1200, limiting part 1210, first cavity 1201, second cavity 1202;

[0031] 100 for the traveling wheel mechanism;

[0032] Lifting assembly 300, mating part 310, drive end 311, lifting structure 320, first gear 321, guide part 330, elastic part 340, pull rope 350;

[0033] Drive assembly 400, drive component 410, gear system 420, input end 421, output end 422;

[0034] Lifting mechanism 500;

[0035] Position detection component 600, optical coupler unit 610, first optical coupler sensor 611, second optical coupler sensor 612, baffle 620. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0037] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the disclosure. The singular forms “a,” “the,” and “the” as used in the embodiments of this disclosure and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise; “multiple” generally includes at least two, and other quantifiers are similarly intended.

[0038] It should be understood that although the terms first, second, third, etc., may be used to describe embodiments of this disclosure, these descriptions should not be limited to these terms. These terms are only used to distinguish the described objects. For example, first may also be referred to as second without departing from the scope of embodiments of this disclosure, and similarly, second may also be referred to as first. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] It should be understood that the term "and / or" as used herein is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship. The singular forms "a," "the," and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0040] It is further understood that the terms “center,” “longitudinal,” “lateral,” “front,” “rear,” “up,” “down,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this embodiment 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. Therefore, they should not be construed as limitations on this utility model.

[0041] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" or "linked" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0042] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0043] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0044] Currently, the wheel mechanisms of mobile devices are mostly designed with fixed positions or can only achieve single-position adjustment, making it difficult to meet the diverse needs of "normal walking, obstacle crossing in complex terrain, and enhanced cleaning and operational pressure." Fixed-position wheel mechanisms cannot adjust height according to the scenario, causing the device to easily get stuck when encountering terrain with height differences, such as thresholds or carpet edges, due to limited obstacle-crossing ability. In scenarios requiring increased pressure between the working components and the ground, the inability to adjust the position of the casters to achieve pressure distribution affects the working efficiency of the mobile device. These problems directly limit the adaptability of mobile devices to complex environments, reducing operational efficiency and user experience.

[0045] To solve the above-mentioned technical problems, this disclosure provides a chassis lifting mechanism applied to the chassis of a mobile device, comprising: a driving wheel mechanism, which is movably mounted on the chassis; and a lifting mechanism having a movable drive end connected to the driving wheel mechanism to drive the driving wheel mechanism to lift; wherein the driving wheel mechanism and the lifting mechanism are distributed along a horizontal direction.

[0046] The chassis lifting mechanism disclosed herein is applied to the chassis of mobile equipment. The driving wheel mechanism is flexibly mounted on the chassis, providing not only driving power for the mobile equipment but also adjusting the chassis height during lifting to help reduce the overall height of the mobile equipment, better meeting the needs of accessing low-lying areas such as under beds and sofas. This solves the problems of weak obstacle-crossing ability and easy jamming caused by traditional fixed casters, and also allows the weight of the equipment to be transferred to the working components through the compression of the casters in the working scenario, improving operational efficiency.

[0047] The optional embodiments of this disclosure are described in detail below with reference to the accompanying drawings.

[0048] The first aspect of this application provides a chassis 1100 lifting mechanism 500, which can be applied to the chassis 1100 of a mobile device, including: a driving wheel mechanism 100 and a lifting mechanism 500.

[0049] The driving wheel mechanism 100 is mounted on the chassis 1100 in a height-adjustable manner. It not only provides driving power for the mobile device, but also adjusts the height of the chassis 1100 during the lifting process.

[0050] The driving wheel mechanism 100 and the lifting mechanism 500 are distributed in a horizontal direction. Compared with the traditional vertical stacking structure design, the horizontal layout effectively reduces the space occupied in the height direction, which helps to reduce the overall height of the mobile device and better meet the needs of entering low areas such as under the bed and under the sofa.

[0051] In some embodiments, the lifting mechanism 500 has a liftable drive end 311, which is connected to the travel wheel mechanism 100. When the lifting mechanism 500 is working, the drive end 311 can drive the travel wheel mechanism 100 to rise and fall synchronously, thereby adjusting the height of the chassis 1100 through the position change of the travel wheel mechanism 100. For example, when the travel wheel mechanism 100 moves down, it can react on the chassis 1100 to raise at least a part of the chassis 1100 relative to the operating surface; when the travel wheel mechanism 100 moves up and retracts, it can lower at least a part of the chassis 1100 relative to the operating surface.

[0052] In some embodiments, the lifting mechanism 500 includes a lifting component 300 and a drive component 400. A drive end 311 is disposed on the lifting component 300, and the drive component 400 is used to drive the drive end 311 of the lifting component 300 to lift. The traveling wheel mechanism 100, the lifting component 300, and the drive component 400 are distributed along the horizontal direction. This horizontal distribution further optimizes the internal space arrangement of the chassis 1100 and avoids the superposition of various components in the height direction, which would cause the overall equipment to be too tall.

[0053] In some embodiments, the lifting assembly 300 is configured to convert the power of the drive assembly 400 into linear lifting motion of the drive end 311, and the drive assembly 400 provides the power source for the entire lifting process. The output end 422 of the drive assembly 400 is connected to the lifting assembly 300. When the drive assembly 400 is working, it can drive the lifting assembly 300 to work, so that the drive end 311 on the lifting assembly 300 can be raised and lowered. Then, through the connection between the drive end 311 and the driving wheel mechanism 100, the driving wheel mechanism 100 is raised and lowered, and finally the height of the chassis 1100 is adjusted to meet the height requirements of mobile devices in different scenarios, such as the need for passage in low-lying areas or obstacle crossing.

[0054] In some embodiments, a mounting base 1200 is provided on the chassis 1100. The mounting base 1200 is fixedly mounted on the chassis 1100 and provides a reliable mounting foundation for the traveling wheel mechanism 100, the lifting assembly 300, and the drive assembly 400. The mounting base 1200 ensures that the positions of each component are stable during operation, avoiding component displacement due to vibration or other factors, which would affect the lifting accuracy.

[0055] The driving wheel mechanism 100 is positioned close to the mounting base 1200, facilitating a quick and stable connection with the drive end 311 of the lifting assembly 300, ensuring efficient power transmission. The lifting assembly 300 and the drive assembly 400 are directly mounted on the mounting base 1200. This mounting method shortens the power transmission path between the lifting assembly 300 and the drive assembly 400, reducing power loss. The mounting base 1200 not only enhances the structural stability of the entire chassis 1100 lifting mechanism 500 but also ensures the coordinated operation of all components, guaranteeing precise and controllable lifting processes and better enabling adjustments to the chassis 1100 height.

[0056] In some embodiments, the lifting assembly 300 includes a lifting structure 320 and a mating member 310. One end of the mating member 310 adjacent to the aforementioned wheel mechanism serves as a drive end 311. A portion of the mating member 310 is connected to the lifting structure 320, and another portion is connected to the travel wheel mechanism 100. The lifting structure 320 drives the mating member 310 to rise and fall, thereby causing the travel wheel mechanism 100 to rise and fall through the rising and falling of the mating member 310. The mating member 310 is used for power transmission, ensuring that the power from the lifting structure 320 is accurately transmitted to the travel wheel mechanism 100.

[0057] When the mobile device needs to enter a low-lying area, the lifting structure 320 can drive the mating component 310 to move the driving wheel mechanism 100 upward and retract it, thereby lowering the height of the chassis 1100 to meet the passage requirements; when the mobile device needs to cross obstacles, the driving wheel mechanism 100 can be driven downward to raise the chassis 1100 and improve the obstacle crossing ability.

[0058] In some embodiments, such as Figure 2 As shown, the lifting structure 320 can be a lead screw, which has the characteristics of high transmission accuracy and good stability. It can ensure that the lifting process of the mating part 310 is precise and controllable, improve the lifting accuracy of the chassis 1100 lifting mechanism 500, and better meet the needs of precise adjustment of the height of the chassis 1100 in different scenarios.

[0059] The lead screw's axis is set along the height direction of the mobile device. The lead screw is rotatably connected to the mounting base 1200, which provides stable support for the lead screw, ensuring that it will not deviate during rotation. The lead screw is threadedly engaged with the mating part 310, which converts the rotational motion of the lead screw into the linear lifting motion of the mating part 310, resulting in efficient and precise power transmission.

[0060] The drive assembly 400 is used to drive the lead screw to rotate, thereby causing the mating component 310 to rise and fall. When the drive assembly 400 drives the lead screw to rotate forward, the mating component 310 moves downward along the lead screw, causing the travel wheel mechanism 100 to move downward, which in turn acts on the chassis 1100 to raise it, improving its obstacle-crossing ability. When the lead screw rotates in reverse, the mating component 310 moves upward, causing the travel wheel mechanism 100 to move upward and retract, lowering the height of the chassis 1100, making it easier to enter low-lying areas, and effectively realizing the height adjustment of the chassis 1100 of the mobile device.

[0061] In some embodiments, such as Figure 3 As shown, the lifting structure 320 is connected to the mounting base 1200 at one end, and a first gear 321 is fixed thereon. The drive assembly 400 includes a drive member 410 and a gear system 420. The gear system 420 has an input end 421 and an output end 422. The input end 421 is connected to the output shaft of the drive member 410, and the output end 422 is engaged with the first gear 321.

[0062] Specifically, the first gear 321 fixed at the end of the lifting structure 320 cooperates with the gear system 420 in the drive assembly 400. The drive assembly 400 includes a drive member 410 and a gear system 420. The gear system 420 has an input end 421 and an output end 422. The input end 421 is connected to the output shaft of the drive member 410, and the output end 422 meshes with the first gear 321. The gear system 420 enables power transmission and speed adjustment, ensuring that the power of the drive member 410 can be efficiently and stably transmitted to the lead screw, thus improving the reliability and flexibility of power transmission.

[0063] When the drive unit 410 is working, power is transmitted through the output shaft of the drive unit 410 to the input end 421 of the gear system 420. After transmission and speed change by the gear system 420, the power is transmitted from the output end 422 to the first gear 321, driving the lifting structure 320 to rotate, thereby realizing the lifting of the mating part 310 and the traveling wheel mechanism 100. This power transmission structure can adjust the rotation speed and torque of the lifting structure 320 according to actual needs, so that the lifting speed and force of the traveling wheel mechanism 100 meet the needs of different scenarios. While adapting to different working environments, it ensures the stability of the lifting process, further improving the practicality of the chassis 1100 lifting mechanism 500.

[0064] In some embodiments, such as Figure 3As shown, the mounting base 1200 has a first cavity 1201 and a second cavity 1202 arranged sequentially from top to bottom. The output end 422 and the first gear 321 are located in the first cavity 1201, and the input end 421 of the gear train 420 is located in the second cavity 1202. This cavity layout makes the connection between the input end 421 of the gear train 420 and the drive component 410, and the meshing between the output end 422 and the first gear 321 more convenient. The power transmission path between the components is more reasonable, reducing space waste. Through this structured space allocation, the mounting base 1200 achieves stable installation of each component while further optimizing the space occupation of the chassis 1100 lifting mechanism 500, achieving the technical goal of reducing the overall height of the mobile device, and facilitating flexible movement of the device in low-ceilinged areas.

[0065] In addition, the first cavity 1201 and the second cavity 1202 in the mounting base 1200 can provide protection for the gear train 420 and the first gear 321, preventing external dust and impurities from entering and affecting the operation of the components, while also reducing the transmission of noise when the components are working.

[0066] In some embodiments, the lifting assembly 300 further includes a guide member 330, which is fixedly mounted on the mounting base 1200. The axial direction of the guide member 330 is set along the height direction of the lifting assembly 300 and slides in engagement with the mating member 310. The guide member 330 provides a stable guiding reference for the mating member 310. This engagement reduces the frictional resistance during the lifting process of the mating member 310, making the lifting of the mating member 310 smoother. The guide member 330 is configured to provide a moving guide for the lifting of the mating member 310, ensuring that the mating member 310 always moves along a preset height direction during the lifting process, avoiding deviation or swaying, improving the stability and accuracy of the lifting of the mating member 310, and ensuring the reliability of the driving wheel mechanism 100 in adjusting the height of the chassis 1100.

[0067] When the mating component 310 is raised and lowered under the drive of the lifting structure 320, the guide component 330 can restrict the lateral movement of the mating component 310, ensuring that the mating component 310 always moves accurately along the height direction, thereby driving the driving wheel mechanism 100 to rise and fall stably, making the height adjustment of the chassis 1100 more precise. Whether the driving wheel mechanism 100 moves down to raise the chassis 1100 to deal with obstacles, or moves up to retract and lower the chassis 1100 to enter low-lying areas, the guide component 330 can ensure that this process is stable and reliable, improving the working performance of the chassis 1100 lifting mechanism 500.

[0068] In some embodiments, such as Figure 4As shown, the lifting structure 320 includes a pull rope 350, an elastic element 340, and a guide element 330. The guide element 330 is fixedly installed on the mounting base 1200 and extends axially along the height direction of the lifting structure 320. The guide element 330 provides guidance for the lifting of the mating part 310, ensuring accurate movement direction. The mating part 310 and the guide element 330 slide and engage. The elastic element 340 is disposed between the mating part 310 and the upper end plate of the mounting base 1200, and is used to store and release elastic potential energy to assist the lifting of the mating part 310. One end of the pull rope 350 is connected to the mating part 310, and the other end is connected to the drive assembly 400. The lifting of the mating part 310 is achieved through the winding and releasing of the pull rope 350 and the elastic force of the elastic element 340. This method has the advantages of simple structure and low cost, while also optimizing space layout and reducing equipment height.

[0069] Specifically, the drive assembly 400 is a motor with a first rotation direction and a second rotation direction, which are opposite to each other. The end of the pull rope 350 away from the mating member 310 is connected to the output shaft of the drive assembly 400. When the drive assembly 400 rotates in the first rotation direction, it winds up the pull rope 350, which pulls the mating member 310 downward. The mating member 310 compresses the elastic member 340, which stores elastic force. At this time, the mating member 310 drives the traveling wheel mechanism 100 to move downward, which in turn acts on the chassis 1100 to raise it, improving its obstacle-crossing ability. When the drive assembly 400 rotates in the second rotation direction, it releases the pull rope 350, releasing the elastic force of the elastic member 340, which pushes the mating member 310 upward, driving the traveling wheel mechanism 100 to move upward and retract, lowering the height of the chassis 1100, making it easier to enter low-lying areas.

[0070] In some embodiments, such as Figure 2 As shown, the chassis 1100 lifting mechanism 500 also includes a position detection component 600. The position detection component 600 includes an optocoupler unit 610 and a baffle 620. The optocoupler unit 610 can be connected to the chassis 1100 or the mounting base 1200. The baffle 620 is connected to the travel wheel mechanism 100 and can move with the travel wheel mechanism 100 to block or detach from the detection optical path of the optocoupler unit 610. The position detection component 600 is configured to detect the lifting position of the travel wheel mechanism 100 in real time, providing a basis for precise control of the lifting process, improving the automation level and control accuracy of the chassis 1100 lifting mechanism 500, and ensuring that the travel wheel mechanism 100 can accurately stop at the required position.

[0071] During operation, as the travel wheel mechanism 100 rises or falls, the baffle 620 moves accordingly. When the baffle 620 blocks the detection optical path of the optocoupler unit 610, the optocoupler unit 610 generates a corresponding signal, providing feedback on the current position of the travel wheel mechanism 100. When the baffle 620 leaves the detection optical path, the signal of the optocoupler unit 610 changes, similarly transmitting position information. This position detection method accurately determines whether the travel wheel mechanism 100 has reached the preset lifting or falling position, such as when the chassis 1100 is raised to the correct position or the casters are retracted. This controls the drive assembly 400 to stop working, preventing damage to components due to excessive lifting or falling, while ensuring that the height adjustment of the chassis 1100 meets actual usage requirements, thus improving the safety and reliability of the equipment.

[0072] In some embodiments, such as Figure 2 As shown, the optocoupler unit 610 includes at least two optocoupler sensors arranged sequentially from top to bottom, specifically including a first optocoupler sensor 611 and a second optocoupler sensor 612. The baffle 620 can pass through each optocoupler sensor as the driving wheel mechanism 100 rises and falls.

[0073] The first optical coupler sensor 611 and the second optical coupler sensor 612 at different positions form different position detection nodes. Each position detection node corresponds to a specific position of the driving wheel mechanism 100. When the baffle 620 passes different optical couplers, different signals are triggered, which can accurately determine the lifting progress and current position of the driving wheel mechanism 100. This enables the detection of multiple lifting positions of the driving wheel mechanism 100, meeting the needs of the chassis 1100 at different heights, such as normal walking height and raised height.

[0074] Regarding the connection and coordination, the spacing between the first optocoupler sensor 611 and the second optocoupler sensor 612 must be set reasonably to ensure accurate differentiation of different position states. For example, when the driving wheel mechanism 100 is in the normal walking position, the baffle 620 blocks the first optocoupler sensor 611; when the driving wheel mechanism 100 moves down and drives the chassis 1100 to rise to its position, the baffle 620 moves to block the second optocoupler sensor 612. By controlling the signal changes of different optocoupler sensors, the timing of the lifting and stopping of the driving wheel mechanism 100 can be precisely controlled, achieving precise control at multiple positions, further optimizing the height adjustment effect of the chassis 1100, and meeting the usage needs in different scenarios.

[0075] In some embodiments, the distance between the first optical coupler sensor 611 and the second optical coupler sensor 612 is greater than the height of the baffle 620. This effectively avoids the situation where the baffle 620 simultaneously blocks both optical couplers due to insufficient distance, thus preventing misjudgment of the position signal and ensuring the accuracy of position detection. That is, when the driving wheel mechanism 100 drives the baffle 620 to gradually descend, the baffle 620 first leaves the detection optical path of the first optical coupler sensor 611. At this time, the signal of the first optical coupler sensor 611 changes, indicating that the driving wheel mechanism 100 has begun to move downward. As it continues to descend, the baffle 620 gradually enters the detection optical path of the second optical coupler sensor 612. When the second optical coupler sensor 612 is completely blocked, the second optical coupler sensor 612 generates a signal, indicating that the driving wheel mechanism 100 has descended to the preset chassis 1100 lifting position.

[0076] When the baffle 620 is positioned between the first optocoupler sensor 611 and the second optocoupler sensor 612, the baffle 620 will not obstruct the first optocoupler sensor 611 and the second optocoupler sensor 612. This structural design ensures that the baffle 620 can only obstruct one optocoupler sensor at a time during the lifting and lowering process following the driving wheel mechanism 100. Each obstructed optocoupler sensor accurately corresponds to a specific position of the driving wheel mechanism 100, preventing the baffle 620 from simultaneously obstructing two optocouplers during movement. This ensures that at any given moment, the baffle 620 can only obstruct one optocoupler or not obstruct any at all, thus making the signal output by the optocoupler unit 610 unique. This facilitates the controller in accurately determining the position status of the driving wheel mechanism 100, avoiding position misjudgment caused by signal confusion, and ensuring the normal operation of the chassis 1100 lifting mechanism 500.

[0077] In some embodiments, such as Figure 2 As shown, a limiting part 1110 is provided on the chassis 1100. The limiting part 1110 is fixedly installed on the chassis 1100, and its position must accurately correspond to the highest point of the lifting path of the driving wheel mechanism 100. This ensures that it can accurately play a limiting role in limiting the highest rising position of the driving wheel mechanism 100 during the lifting process, effectively preventing the driving wheel mechanism 100 from rising excessively and causing collision damage with the chassis 1100 or other components, thus ensuring the safety of the equipment.

[0078] When the driving wheel mechanism 100 rises to its highest position under the drive of the lifting structure 320, it will contact the limiting part 1110. The limiting part 1110 will generate a blocking force to prevent the driving wheel mechanism 100 from rising further. When it is necessary to retract the driving wheel mechanism 100 to the lowest chassis height 1100, the lifting structure 320 will drive the driving wheel mechanism 100 to rise. When the driving wheel mechanism 100 rises to contact the limiting part 1110, it indicates that the maximum retraction position has been reached. At this time, the drive component 400 will stop working to prevent the driving wheel mechanism 100 from continuing to rise and causing damage to the components. At the same time, it can also ensure that the chassis height 1100 reaches the preset minimum value after the driving wheel mechanism 100 is retracted, which is convenient for entering low-lying areas. While realizing the function of retracting the driving wheel mechanism 100, it also realizes the function of safe position protection.

[0079] In some embodiments, such as Figure 2 As shown, a limiting part 1210 is provided on the chassis 1100. The limiting part 1210 can be the upper surface of the mounting base 1200 and is set at the lowest point of the lifting path of the drive end 311. Its main function is to limit the lowest descent position of the drive end 311 during the lifting process, to prevent the drive end 311 from falling too low and colliding with the chassis 1100 or other components. At the same time, it can also ensure that when the driving wheel mechanism 100 moves down to lift the chassis 1100, it reaches the preset maximum lifting height, thus ensuring the stable realization of the equipment function.

[0080] When the upper surface of the mounting base 1200 is the limiting part 1210, no additional components are needed. The existing structure can be fully utilized to restrict the movement of the driving wheel. When the driving end 311 descends to the lowest position under the drive of the lifting structure 320, at least a part of the lifting structure 320 will contact the limiting part 1210, restricting the driving end 311 from continuing to descend, thereby limiting the maximum downward movement of the driving wheel mechanism 100.

[0081] In some embodiments, when it is necessary to raise the chassis 1100 to overcome obstacles, the drive assembly 400 drives the drive end 311 to descend, causing the travel wheel mechanism 100 to move downward. When the drive end 311 descends to contact the upper surface of the mounting base 1200, that is, to contact the limiting part 1210, it indicates that the travel wheel mechanism 100 has moved down to its maximum stroke and the chassis 1100 has reached the preset height. At this time, the drive assembly 400 stops working to avoid excessive descent that could damage components, while ensuring that the chassis 1100's height can meet the obstacle-crossing requirements, thus improving the practicality and safety of the chassis 1100 lifting mechanism 500.

[0082] In some embodiments, such as Figure 2As shown, the mating part 310 and the driving wheel mechanism 100 are connected via a slot and an insertion part. One part has a slot, and the other has an insertion part; the insertion part is inserted into the slot to complete the connection. The engagement of the slot and insertion part accurately positions the mating part 310 and the driving wheel mechanism 100, preventing relative misalignment during operation and ensuring that the lifting of the mating part 310 precisely drives the lifting of the driving wheel mechanism 100. During connection, simply aligning the insertion part with the slot and inserting it completes the connection; no complex tools or operations are required, facilitating production assembly and subsequent maintenance and replacement. This plug-in connection method offers advantages such as simple structure and convenient assembly. It also ensures stable and reliable power transmission between the mating part 310 and the driving wheel mechanism 100, guaranteeing the synchronization of lifting actions. This not only ensures efficient power transmission, allowing the driving wheel mechanism 100 to accurately respond to the lifting actions of the mating part 310 and achieve precise height adjustment of the chassis 1100, but also simplifies the assembly process and reduces production costs.

[0083] In some embodiments, the mating member 310 and the driving wheel mechanism 100 can also be fixed by magnetic attraction between the first magnet and the second magnet, that is, one of them is provided with the first magnet and the other is provided with the second magnet, and the two are connected by the magnetic attraction of the magnets.

[0084] The precise alignment of the first and second magnets ensures a stable magnetic connection. Magnets of appropriate strength must be selected to guarantee a secure connection, preventing detachment during operation, while also facilitating disassembly and maintenance. The cooperation of the first and second magnets ensures that the lifting and lowering movements of the mating component 310 are synchronously transmitted to the traveling wheel mechanism 100, enabling height adjustments to the chassis 1100. This includes lowering the traveling wheel mechanism 100 to raise the chassis 1100 or retracting it to reduce its height. Furthermore, this facilitates future component maintenance and replacement, enhancing the equipment's operational flexibility.

[0085] The magnetic connection method is easy to assemble and disassemble, allowing the mating part 310 to quickly and easily connect with the driving wheel mechanism 100. At the same time, it ensures that the connection between the two is stable during operation, does not affect power transmission, and does not generate additional height occupation during the connection process, which is conducive to the overall low height design of the mobile device.

[0086] In some embodiments, a second aspect of this application provides a mobile device, the mobile device including the chassis 1100 lifting mechanism 500 of any of the above embodiments. Applying the chassis 1100 lifting mechanism 500 to the mobile device fully leverages its advantages in optimizing space and adjusting height, enabling the mobile device to have more flexible height adjustment capabilities and better adapt to different usage scenarios. Through the horizontal distribution design of the driving wheel mechanism 100 and the lifting mechanism 500, the chassis 1100 lifting mechanism 500 effectively reduces the overall height of the mobile device, allowing it to easily access low areas such as under beds and sofas for operation. For example, a robot vacuum cleaner can penetrate low areas to complete cleaning tasks, improving cleaning coverage.

[0087] When the mobile device encounters an obstacle, the chassis 1100 lifting mechanism 500 can drive the driving wheel mechanism 100 to move down and raise the chassis 1100 to overcome the obstacle; when it needs to enter a low area, the driving wheel mechanism 100 can be driven up and retracted to lower the height of the chassis 1100 for smooth entry. At the same time, the retraction of the driving wheel mechanism 100 can also adjust the weight distribution of the equipment. For example, a sweeper can distribute its weight to the mop to increase the pressure on the ground and improve the cleaning effect.

[0088] The specific structure, working principle, and beneficial effects of the chassis 1100 lifting mechanism 500 and the mobile device provided in this disclosure embodiment can be referred to the chassis 1100 lifting mechanism 500 and the mobile device described in any of the above embodiments, and will not be repeated here.

[0089] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0090] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure.

Claims

1. A chassis lifting mechanism, applied to the chassis of a mobile device, characterized in that, include: The driving wheel mechanism is vertically and flexibly mounted on the chassis; A lifting mechanism has a liftable drive end, which is connected to the traveling wheel mechanism so as to drive the traveling wheel mechanism to lift. The traveling wheel mechanism and the lifting mechanism are distributed along the horizontal direction.

2. The chassis lifting mechanism according to claim 1, characterized in that, The lifting mechanism includes a lifting component and a driving component. The driving end is disposed on the lifting component, and the driving component is used to drive the driving end of the lifting component to rise and fall. The traveling wheel mechanism, the lifting component, and the driving component are distributed along the horizontal direction.

3. The chassis lifting mechanism according to claim 2, characterized in that, The chassis is provided with a mounting base, which is fixedly installed on the chassis. The driving wheel mechanism is located close to the mounting base, and the lifting component and the driving component are installed on the mounting base.

4. The chassis lifting mechanism according to claim 3, characterized in that, The lifting assembly includes a lifting structure and a mating component. One end of the mating component is the driving end. A portion of the mating component is connected to the lifting structure, and another portion is connected to the drive wheel assembly. The lifting structure is used to drive the mating component to lift, so as to use the lifting of the mating component to drive the drive wheel assembly to lift.

5. The chassis lifting mechanism according to claim 4, characterized in that, The lifting structure is a lead screw, the axis of which is set along the height direction. The lead screw is rotatably connected to the mounting base. The mating part is threadedly engaged with the lead screw. The driving assembly is used to drive the lead screw to rotate, thereby using the lead screw to drive the mating part to lift.

6. The chassis lifting mechanism according to claim 5, characterized in that, The end of the lead screw is fixed with a first gear. The drive assembly includes a drive member and a gear system. The gear system has an input end and an output end. The input end is connected to the output shaft of the drive member, and the output end meshes with the first gear.

7. The chassis lifting mechanism according to claim 6, characterized in that, The mounting base has a first cavity and a second cavity from top to bottom. The input end is located in the second cavity, and the output end and the first gear are located in the first cavity.

8. The chassis lifting mechanism according to claim 5, characterized in that, The lifting assembly also includes a guide member, which is fixedly installed on the mounting base. The axial direction of the guide member is set along the height direction, and the guide member slides in conjunction with the mating member.

9. The chassis lifting mechanism according to claim 4, characterized in that, The lifting structure includes a pull rope, an elastic element, and a guide element. The guide element is fixedly installed on the mounting base, and the axial direction of the guide element is set along the height direction. The mating element slides with the guide element. The elastic element is disposed between the mating element and the mounting base. One end of the pull rope is connected to the mating element, and the other end is connected to the drive assembly. The drive assembly has a first rotation direction and a second rotation direction; When the drive assembly rotates in the first rotation direction, the drive assembly winds up the pull rope to lower the mating member, and the mating member compresses the elastic member during the descent; when the drive assembly rotates in the second rotation direction, the drive assembly releases the pull rope, and the elastic force of the elastic member is released to raise the mating member.

10. The chassis lifting mechanism according to claim 1, characterized in that, The chassis lifting mechanism also includes a position detection component, which includes an optical coupler unit and a baffle. The optical coupler unit is connected to the chassis, and the baffle is connected to the driving wheel mechanism. The baffle can move with the driving wheel mechanism to block or disconnect the detection light path of the optical coupler unit.

11. The chassis lifting mechanism according to claim 10, characterized in that, The optocoupler unit includes at least two optocoupler sensors arranged sequentially from top to bottom, and the baffle can follow the traveling wheel mechanism to pass through each of the optocoupler sensors.

12. The chassis lifting mechanism according to claim 11, characterized in that, The distance between two adjacent optocouplers is greater than or equal to the height of the baffle.

13. The chassis lifting mechanism according to claim 1, characterized in that, The chassis is provided with a limiting part, which is located at the highest point of the lifting path of the traveling wheel mechanism. The limiting part is used to limit the highest rising position of the traveling wheel mechanism during the lifting process.

14. The chassis lifting mechanism according to claim 1, characterized in that, The chassis is provided with a limiting part, which is located at the lowest point of the lifting path of the drive end. The limiting part is used to limit the lowest descent position of the drive end during the lifting process.

15. The chassis lifting mechanism according to claim 4, characterized in that, One of the mating parts and the traveling wheel mechanism is provided with a slot, and the other is provided with an insertion part. The insertion part and the slot are inserted and mated to realize the connection between the drive end and the traveling wheel mechanism.

16. The chassis lifting mechanism according to claim 4, characterized in that, One of the mating component and the traveling wheel mechanism is provided with a first magnet, and the other is provided with a second magnet. The first magnet and the second magnet are magnetically connected to achieve the connection between the drive end and the traveling wheel mechanism.

17. A mobile device, characterized in that, Includes the chassis lifting mechanism as described in any one of claims 1-16.

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