Cleaning device

Abstract

A cleaning device (100), comprising a device body (110); at least two driving wheels (120) located at the bottom of the device body (110), the driving wheels (120) rotating to drive the device body (110) to move; and an auxiliary wheel (130) located at the bottom of the device body (110), the auxiliary wheel (130) being located on the rear side of the device body (110) with respect to a connecting line between the at least two driving wheels (120), and the auxiliary wheel (130) being movably connected to the device body (110) and being switchable between a first position and a second position, wherein the auxiliary wheel (130) sits lower at the second position than at the first position.

Description

Cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202411252443.X, filed on September 6, 2024, entitled "Cleaning Equipment", the entire contents of which are incorporated herein by reference.

[0002] This application claims priority to Chinese Patent Application No. 202422194297.1, filed with the Chinese Patent Office on September 6, 2024, entitled "Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of smart home technology, and in particular to a cleaning device. Background Technology

[0004] With the iterative updates and development of technology, cleaning equipment, especially self-propelled cleaning equipment, has entered ordinary household life and is gradually becoming widespread both domestically and internationally. However, during operation, some cleaning equipment may experience instability due to a shift in the center of gravity. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This section of the application is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] An embodiment of a first aspect of this application provides a cleaning device, comprising: a machine body; at least two drive wheels located at the bottom of the machine body, the drive wheels being rotatably configured to move the machine body; and an auxiliary wheel located at the bottom of the machine body, the auxiliary wheel being located at the rear side of the machine body relative to the line connecting the at least two drive wheels, the auxiliary wheel being movably connected to the machine body and switchable between a first position and a second position, wherein the auxiliary wheel is in the second position lower than when it is in the first position.

[0007] For example, when the center of gravity of the machine body is located at the rear of the machine body relative to the line connecting at least two drive wheels, the auxiliary wheel switches from a first position to a second position, wherein the auxiliary wheel and drive wheel in the second position are in contact with the surface to be cleaned.

[0008] For example, when the auxiliary wheel is in the second position, its bottom end does not protrude beyond the bottom end of the drive wheel.

[0009] For example, the cleaning equipment also includes: a robotic arm connected to the machine body, the robotic arm being foldable or unfoldable relative to the machine body, and the location where the robotic arm is connected to the machine body being located on the front side of the machine body relative to the line connecting at least two drive wheels.

[0010] For example, when the projection of the robotic arm on the machine body overlaps with the line connecting at least two drive wheels and the area at the rear of the machine body, the auxiliary wheel switches to the second position; when the projection of the robotic arm on the machine body does not overlap with the line connecting at least two drive wheels and the area at the rear of the machine body, the auxiliary wheel switches to the first position.

[0011] For example, the top of the machine body has an arm compartment, and the robotic arm can be folded and stored in the arm compartment.

[0012] For example, the cleaning device also includes a driven wheel located at the bottom of the machine body, with the driven wheel positioned relative to the line connecting at least two drive wheels on the front side of the machine body.

[0013] For example, the boom is located between the driven wheel and the line connecting at least two drive wheels.

[0014] For example, the number of driven wheels is at least one, and / or the number of auxiliary wheels is at least one, and / or the driven wheels and auxiliary wheels are arranged correspondingly.

[0015] For example, the intersection of the line connecting the corresponding driven wheel and auxiliary wheel with the line connecting at least two drive wheels is located at the geometric center of the machine body.

[0016] For example, the cleaning device further includes: a connecting arm, a first end of which is rotatably connected to the machine body, and an auxiliary wheel rotatably connected to a second end of the connecting arm, the first end of which rotates relative to the machine body to allow the auxiliary wheel to switch between a first position and a second position.

[0017] For example, the cleaning device further includes: an elastic element connected between the connecting arm and the machine body; and a drive assembly disposed on the machine body and configured to cooperate with the elastic element to rotate the connecting arm relative to the machine body to drive the auxiliary wheel to switch between a first position and a second position.

[0018] For example, during the switching of the auxiliary wheel between the first position and the second position, the drive assembly abuts against the connecting arm to cause the first end of the connecting arm to rotate relative to the machine body.

[0019] For example, the drive assembly is configured to drive the connecting arm to rotate relative to the machine body in a first direction so that the auxiliary wheel switches from a first position to a second position.

[0020] For example, the elastic element is used to drive the connecting arm to rotate relative to the machine body in a second direction so that the auxiliary wheel switches from a second position to a first position.

[0021] For example, the drive assembly includes: a lead screw, a sleeve, and a drive unit. The sleeve is sleeved on the outside of the lead screw and is threadedly connected to the lead screw. The drive unit is disposed on the machine body and connected to the lead screw. The drive unit drives the lead screw to rotate so that the sleeve moves relative to the lead screw to abut against the connecting arm.

[0022] For example, the drive assembly also includes a roller connected to the side of the sleeve away from the drive unit and toward the connecting arm.

[0023] For example, a limiting groove is provided on the side of the connecting arm facing the roller, and at least part of the arm is accommodated in the limiting groove and can roll within the limiting groove.

[0024] For example, the lead screw and sleeve are configured with a threaded self-locking structure.

[0025] For example, the elastic element is a torsion spring, with the first torsion arm of the torsion spring connected to the first end of the connecting arm, and the second torsion arm of the torsion spring connected to the machine body; or the elastic element is a tension spring, with the first end of the tension spring connected to the connecting arm, and the second end of the tension spring connected to the machine body.

[0026] For example, the cleaning equipment also includes: a position detection device, which is disposed on the machine body and configured to detect the position of the auxiliary wheel, and the drive unit rotates or stops rotating according to the detection result of the position detection device.

[0027] For example, the drive unit is equipped with an overcurrent protection device.

[0028] For example, the cleaning device further includes: a buffer, which is disposed on the connecting arm and / or the machine body, and the buffer is located between the side wall of the connecting arm near the machine body and the machine body when the auxiliary wheel is in the first position.

[0029] For example, a storage slot is provided at the bottom of the machine body, and the auxiliary wheel in the first position is accommodated in the storage slot.

[0030] The cleaning device provided in this application includes a machine body, drive wheels, and auxiliary wheels. The drive wheels support the machine body, and their rotation enables the machine body to move, allowing the cleaning device to travel. By adding auxiliary wheels that are movably positioned relative to the machine body at the bottom of the machine body, with the line connecting the auxiliary wheels and at least two drive wheels located at the rear of the machine body, when the center of gravity of the cleaning device shifts backward, the auxiliary wheels are positioned in a second position relative to the machine body, extending beyond it. The auxiliary wheels and drive wheels jointly support the machine body, improving the stability of the cleaning device. When the center of gravity of the cleaning device is within a reasonable range, such as when the center of gravity has not shifted backward, the auxiliary wheels are positioned in a first position relative to the machine body. In this position, the bottom of the auxiliary wheels is higher than the bottom of the drive wheels, preventing the auxiliary wheels from contacting the surface to be cleaned. Thus, the stability of the cleaning device is ensured by using the drive wheels to support the machine body. Therefore, the posture of the auxiliary wheels relative to the machine body can be reasonably set according to whether the center of gravity of the cleaning device shifts backward, ensuring high stability of the cleaning device in different postures and improving the safety and user satisfaction of using the cleaning device.

[0031] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0032] The following figures are included as part of the embodiments of this application to help understand the application. The figures illustrate embodiments of the application and their descriptions, serving to explain the principles of the application.

[0033] In the attached image:

[0034] Figure 1 shows a structural schematic diagram of the cleaning device of this application with the auxiliary wheel in the first position from one perspective;

[0035] Figure 2 shows a structural schematic diagram of the cleaning device of this application with the auxiliary wheel in the second position from one perspective;

[0036] Figure 3 shows a structural schematic diagram of the cleaning device of this application from another perspective;

[0037] Figure 4 shows a structural schematic diagram of the cleaning device of this application from another perspective;

[0038] Figure 5 shows a partial structural schematic diagram of the cleaning device of this application with the auxiliary wheel in the second position;

[0039] Figure 6 shows a structural schematic diagram of the embodiment shown in Figure 5 from another perspective;

[0040] Figure 7 shows a cross-sectional view along the AA direction of the embodiment shown in Figure 6;

[0041] Figure 8 shows a partial structural schematic diagram of the cleaning device of this application with the auxiliary wheel in the first position;

[0042] Figure 9 shows a structural schematic diagram from another perspective of the embodiment shown in Figure 8;

[0043] Figure 10 shows a cross-sectional view along the BB direction of the embodiment shown in Figure 9;

[0044] Figure 11 shows a schematic diagram from one perspective of a cleaning device with the robotic arm of this application in a certain posture;

[0045] Figure 12 shows a schematic diagram from one perspective of the cleaning device with the robotic arm of this application in another posture;

[0046] Figure 13 shows a schematic diagram from one perspective of the cleaning device with the robotic arm of this application in another posture.

[0047] Explanation of reference numerals in the attached figures

[0048] 100 Cleaning equipment, 110 Machine body, 111 Arm compartment, 112 Storage slot, 113 Driven wheel mounting slot, 120 Drive wheel, 130 Auxiliary wheel, 140 Connecting arm, 141 Limiting slot, 142 Fixing seat, 150 Elastic element, 160 Drive assembly, 161 Lead screw, 162 Sleeve, 163 Drive unit, 164 Roller, 165 Mounting seat, 170 Robotic arm. Detailed Implementation

[0049] The following description provides numerous specific details to offer a more thorough understanding of the technical solutions provided in this application. However, it will be apparent to those skilled in the art that the technical solutions provided in this application can be implemented without one or more of these details.

[0050] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0051] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0052] As shown in Figures 1 to 13, an embodiment of this application provides a cleaning device 100, wherein the cleaning device 100 can be a sweeping robot, a mopping robot, a sweeping and mopping robot, or other cleaning robots that meet the requirements.

[0053] As shown in Figures 1, 2, and 3, the cleaning device 100 provided in this embodiment includes: a machine body 110; at least two drive wheels 120 located at the bottom of the machine body 110, the drive wheels 120 rotating to drive the machine body 110 to move; and an auxiliary wheel 130 located at the bottom of the machine body 110, the auxiliary wheel 130 being located at the rear side of the machine body 110 relative to the line connecting the at least two drive wheels 120, the auxiliary wheel 130 being movably connected to the machine body 110 and being switchable between a first position and a second position, wherein the auxiliary wheel 130 is in the second position lower than when it is in the first position.

[0054] The cleaning device 100 provided in this application embodiment includes a machine body 110, drive wheels 120, and auxiliary wheels 130. The drive wheels 120 and auxiliary wheels 130 are located at the bottom of the machine body 110. There are at least two drive wheels 120, which support the machine body 110 and their rotation enables the machine body 110 to move, allowing the cleaning device 100 to move. The auxiliary wheels 130 are movably connected to the machine body 110. The relative positions of the auxiliary wheels 130 and the machine body 110 include a first position and a second position. When the auxiliary wheel 130 is in the second position, it is lower than when it is in the first position. In other words, the bottom end of the auxiliary wheel 130 in the second position is located below the bottom end of the auxiliary wheel 130 in the first position. For example, the bottom end of the auxiliary wheel 130 in the second position can be located on the outer side of the bottom of the machine body 110. In this way, the auxiliary wheel 130 in the second position can contact the surface to be cleaned when the machine body 110 is slightly tilted or not tilted, so that the auxiliary wheel 130 in the second position and at least two drive wheels 120 can contact the surface to be cleaned at the same time to support the machine body 110. Since the line connecting the auxiliary wheel 130 to the at least two drive wheels 120 is located at the rear of the machine body 110, when the center of gravity of the cleaning equipment 100 shifts backward, the auxiliary wheel 130 in the second position provides auxiliary support, allowing the auxiliary wheel 130 and the at least two drive wheels 120 to work together to support the machine body 110. This enables the cleaning equipment 100 to reliably and stably maintain its current posture, reducing or avoiding instability caused by the rearward shift of the center of gravity. This improves the reliability and stability of the cleaning equipment 100's operation, reduces the risk of the cleaning equipment 100 overturning and being damaged due to instability, and thus enhances the safety and lifespan of the cleaning equipment 100.

[0055] In this configuration, the auxiliary wheel 130 in the first position is higher than the auxiliary wheel 130 in the second position. That is, the bottom of the auxiliary wheel 130 in the first position is higher than the bottom of the drive wheel 120. Normally, the bottom of the drive wheel 120 is in contact with the surface to be cleaned. Therefore, the distance between the bottom of the auxiliary wheel 130 in the first position and the surface to be cleaned is relatively large, preventing the auxiliary wheel 130 from contacting the surface. The use of at least two drive wheels 120 to support the machine body 110 provides reliable support for the cleaning equipment 100, ensuring its center of gravity remains within a reasonable range and allowing it to maintain its current posture reliably and stably. Simultaneously, this arrangement reduces the possibility of interference or collision between the auxiliary wheel 130 in the first position and obstacles at the bottom of the machine body 110, improving the smoothness of the cleaning equipment 100's operation. It is understood that the auxiliary wheel 130 in the first position and the auxiliary wheel 130 in the second position in this embodiment can be understood as the same auxiliary wheel 130 in different positions relative to the machine body 110.

[0056] In other words, the cleaning device 100 provided in this application embodiment adds an auxiliary wheel 130 to the bottom of the machine body 110, which is movably disposed relative to the machine body 110, and the line connecting the auxiliary wheel 130 and at least two drive wheels 120 is located at the rear side of the machine body 110. Thus, when the center of gravity of the cleaning device 100 shifts backward, the auxiliary wheel 130 moves relative to the machine body 110 to a second position, and the auxiliary wheel 130 and the drive wheels 120 jointly support the machine body 110, thereby improving the stability of the cleaning device 100. When the center of gravity of the cleaning equipment 100 is within a reasonable range, such as when the center of gravity of the cleaning equipment 100 does not shift backward, the auxiliary wheel 130 can be moved relative to the machine body 110 to a first position. At this time, the bottom of the auxiliary wheel 130 in the first position is higher than the bottom of the auxiliary wheel 130 in the second position, so that the auxiliary wheel 130 will not contact the surface to be cleaned when in the first position, and can avoid obstacles such as thresholds located at the bottom of the machine body 110. In this way, the stability of the cleaning equipment 100 can be ensured by using the drive wheel 120 to support the machine body 110, and the smooth operation of the cleaning equipment 100 can be ensured. Therefore, the attitude of the auxiliary wheel 130 relative to the machine body 110 can be reasonably set according to whether the center of gravity of the cleaning equipment 100 shifts backward, so that the cleaning equipment 100 can have high stability in different attitudes, improving the safety and satisfaction of using the cleaning equipment 100.

[0057] The number of drive wheels 120 can be at least two, such as two, three, four, or other numbers. The at least two drive wheels 120 can be arranged along a transverse axis defined by the machine body 110. This transverse axis can be perpendicular to the front-back direction of the machine body 110, such as being arranged along the left-right direction. Specifically, the transverse axis is shown by arrow X in Figure 1, the front-back direction of the machine body 110 is shown by arrow Y in Figure 3, the left-right direction of the machine body 110 is shown by arrow X in Figure 3, and the transverse axis of the machine body 110 can be represented by line P in Figure 3. In Figure 1, Y+ represents the front of the machine body 110, and Y- represents the rear of the machine body 110. Specifically, the number of drive wheels 120 shown in Figure 1 is two, which can be understood as a left wheel and a right wheel. Line P can be understood as the line connecting the at least two drive wheels 120.

[0058] Furthermore, the drive wheel 120 can be connected to a travel drive device, which is used to drive the drive wheel 120 to rotate, or to drive the drive wheel 120 to rotate and steer. Specifically, at least two drive wheels 120 can be connected to the same travel drive device, that is, the same travel drive device can drive at least two drive wheels 120 simultaneously; or, at least two drive wheels 120 can be connected to different travel drive devices, that is, the travel drive device can be connected to one drive wheel 120 or to some drive wheels 120, so as to realize the driving of a single or partial drive wheel 120, thereby meeting the needs of different structures of the travel drive device.

[0059] In some possible embodiments provided in this application, when the center of gravity of the machine body 110 is located at the rear of the machine body 110 relative to the line connecting at least two drive wheels 120, the auxiliary wheel 130 switches from a first position to a second position, wherein the auxiliary wheel 130 and the drive wheel 120 in the second position are in contact with the surface to be cleaned.

[0060] In this embodiment, when the center of gravity of the machine body 110 is located at the rear of the machine body 110 relative to the line connecting the at least two drive wheels 120, it indicates that the center of gravity of the cleaning device 100 has shifted backward. At this time, the auxiliary wheel 130 is switched from the first position to the second position. The auxiliary wheel 130 in the second position and the at least two drive wheels 120 are in contact with the surface to be cleaned, so that the auxiliary wheel 130 in the second position and the at least two drive wheels 120 jointly support the machine body 110, thereby improving the stability of the cleaning device 100 and reducing or avoiding the instability of the cleaning device 100 due to the rearward shift of the center of gravity. This is beneficial to improving the reliability and stability of the cleaning device 100, and at the same time, it reduces the problem of the cleaning device 100 overturning and being damaged due to instability of the center of gravity, thereby improving the safety of the cleaning device 100 and increasing the service life of the cleaning device 100.

[0061] As shown in Figure 2, in some possible embodiments provided in this application, the bottom end of the auxiliary wheel 130 in the second position does not protrude beyond the bottom end of the drive wheel 120. This can be understood as the bottom end of the auxiliary wheel 130 in the second position not protruding below the bottom end of the drive wheel 120 towards the machine body 110. In other words, the bottom end of the auxiliary wheel 130 in the second position is not lower than the bottom end of the drive wheel 120; that is, the bottom end of the auxiliary wheel 130 in the second position can be located between its bottom end in the first position and the bottom end of the drive wheel 120, or the bottom end of the auxiliary wheel 130 in the second position can be on the same horizontal plane as the bottom end of the drive wheel 120. This allows the bottom end of the auxiliary wheel 130 in the second position and the bottom end of the drive wheel 120 to simultaneously contact the surface to be cleaned, jointly supporting the machine body 110. This allows the machine body 110 to continue working in a slightly tilted or horizontal posture, improving the stability of the cleaning equipment 100 and preventing the cleaning equipment 100 from shifting its center of gravity backward or tipping over.

[0062] Normally, the bottom end of the drive wheel 120 is used to contact the surface to be cleaned. When the auxiliary wheel 130 is in the second position, the bottom end of the drive wheel 120 can be on the same horizontal plane. Thus, by using the auxiliary wheel 130 in the second position and the drive wheel 120 together to support the machine body 110, the machine body 110 can continue to work in a horizontal posture. This helps to ensure good detection accuracy of at least some of the sensing devices on the cleaning equipment 100, thereby improving the reliability and accuracy of the cleaning equipment 100.

[0063] As shown in Figures 3, 11, 12 and 13, in some possible embodiments provided in this application, the cleaning device 100 further includes: a robotic arm 170, which is connected to the machine body 110. The robotic arm 170 is foldable or unfoldable relative to the machine body 110, and the connection point between the robotic arm 170 and the machine body 110 is located on the front side of the machine body 110 relative to the line connecting at least two drive wheels 120.

[0064] In this embodiment, the robotic arm 170 is connected to the machine body 110, allowing it to move along with the machine body 110 to reach the target position. Since the robotic arm 170 is connected to the top of the machine body 110, it can be folded or unfolded relative to the machine body 110. Therefore, by unfolding the robotic arm 170 relative to the machine body 110, obstacles, objects, and debris near the cleaning device 100 can be grasped or moved, thus better achieving the autonomous cleaning function. It is understood that the aforementioned objects can also be objects desired by the user, such as a remote control, an apple, etc., which will not be listed here. By folding the robotic arm 170 relative to the machine body 110, it can be stored on the machine body 110, reducing the overall size of the cleaning device 100 and facilitating movement and storage. It is understood that the robotic arm 170 may include multiple arms connected in sequence to switch between folding and unfolding movements. Furthermore, the robotic arm 170 may also include a robotic hand at the end to grasp or release a target object.

[0065] The robotic arm 170 is connected to the machine body 110 at a location relative to the line connecting at least two drive wheels 120, which is located on the front side of the machine body 110. In other words, the robotic arm 170 is mounted on the front side of the machine body 110. This arrangement allows the robotic arm 170 to make efficient use of the front space of the machine body 110. This configuration eliminates the need to change the layout of other components located at the rear of the machine body 110; only the front space of the machine body 110 needs modification. The design changes are minimal, and the functionality of the cleaning equipment is enhanced.

[0066] As shown in Figures 12 and 13, in some possible embodiments provided in this application, when the projection of the robotic arm 170 on the machine body 110 overlaps with the line connecting at least two drive wheels 120 and the rear area of ​​the machine body 110, it indicates that the cleaning device 100 has shifted its center of gravity backward. Here, overlap means that the projection of the robotic arm 170 on the machine body 110 and the rear area of ​​the machine body 110 partially overlap. For example, the robotic arm 170 itself has a certain weight. Since the robotic arm 170 is installed on the front side of the machine body 110, when the robotic arm 170 unfolds and moves to the point where the projection of the robotic arm 170 on the machine body 110 exceeds the line P connecting at least two drive wheels 120 and extends to the rear area of ​​the machine body 110, or when the robotic arm 170 holding the target object moves to the point where the projection of the robotic arm 170 on the machine body 110 exceeds the line P connecting at least two drive wheels 120 and extends to the rear area of ​​the machine body 110, it indicates that the projection of the robotic arm 170 on the machine body 110 partially overlaps with the line connecting at least two drive wheels 120 and the rear area of ​​the machine body 110, indicating that the center of gravity of the cleaning device 100 has shifted backward. At this time, the auxiliary wheel 130 switches to the second position. The bottom end of the auxiliary wheel 130 and the bottom end of the drive wheel 120, when in the second position, contact the surface to be cleaned. This allows the auxiliary wheel 130 and drive wheel 120 to jointly support the machine body 110, reducing or preventing the cleaning device 100 from shifting its center of gravity backward and becoming unstable. This ensures that the cleaning device 100 can reliably and stably maintain its current posture. In Figures 11 to 13, the straight line P can be understood as the line connecting at least two drive wheels 120. The arrow Y+ represents the front of the machine body 110, and the arrow Y- represents the rear of the machine body 110.

[0067] As shown in Figure 11, in some possible embodiments provided in this application, when the projection of the robotic arm 170 on the machine body 110 does not overlap with the line connecting at least two drive wheels 120 and the area at the rear of the machine body 110, it indicates that the center of gravity of the cleaning device 100 is within a reasonable range. Specifically, for example, the robotic arm 170 itself has a certain weight. Since the robotic arm 170 is installed on the front side of the machine body 110, when the projection of the robotic arm 170 on the machine body 110 does not extend beyond the rear of the machine body 110 beyond the line connecting at least two drive wheels 120, that is, when the projection of the robotic arm 170 on the machine body 110 overlaps with the line connecting at least two drive wheels 120 and the front area of ​​the machine body 110, or when the projection of the robotic arm 170 on the machine body 110 overlaps with the line connecting at least two drive wheels 120, the front area of ​​the machine body 110, and the line P connecting at least two drive wheels 120, it indicates that the center of gravity of the cleaning device 100 is within a reasonable range, meaning that the cleaning device 100 will not tip over due to a rearward shift of the center of gravity. It can be understood that at this time, the robotic arm 100 may or may not grip the target object. In this case, the auxiliary wheel 130 switches to the first position. The auxiliary wheel 130 in the first position is higher than when it is in the second position. That is, the bottom of the auxiliary wheel 130 in the first position is higher than the bottom of the drive wheel 120. When the auxiliary wheel 130 is in the first position, it does not contact the surface to be cleaned. The drive wheel 120 can support the machine body 110, so that the cleaning equipment 100 can reliably and stably maintain the current posture.

[0068] As shown in Figures 3, 11, 12, and 13, in some possible embodiments provided in this application, an arm compartment 111 is provided on the top of the machine body 110, and the robotic arm 170 can be folded and stored in the arm compartment 111. The arm compartment 111 provides storage space for the robotic arm 170, allowing it to be folded and stored in the arm compartment 111, reducing the space occupied by the robotic arm 170. This makes the overall size of the cleaning equipment 100 smaller, facilitating storage and movement, and improving the aesthetics of the cleaning equipment 100. At the same time, since the arm compartment 111 is located on the machine body 110, the structure of the machine body 110 can be fully utilized to realize the storage of the robotic arm 170. The structure is simple and can meet the design requirements of the cleaning equipment 100 for a compact structure and small size.

[0069] As shown in Figures 1, 2, and 3, in some possible embodiments provided in this application, the cleaning device 100 further includes: a driven wheel located at the bottom of the machine body 110, with the line connecting the driven wheel and at least two drive wheels 120 located on the front side of the machine body 110. That is, the driven wheel is distributed at the front of the machine body 110, and the auxiliary wheel 130 is distributed at the rear of the machine body 110. The arrangement of the driven wheel allows it to cooperate with the drive wheels 120, providing stable support for the machine body 110, enabling the cleaning device 100 to move and operate smoothly.

[0070] Specifically, the bottom end of the driven wheel can contact the surface to be cleaned. Thus, the driven wheel and at least two drive wheels 120 simultaneously support the machine body 110, greatly improving the stability of the cleaning equipment 100 during movement, motion, and operation. The driven wheel includes, but is not limited to, casters. Specifically, as shown in Figures 1, 2, and 3, a driven wheel mounting groove 113 is provided at the bottom of the machine body 110, and the driven wheel is installed within the groove. Specifically, the driven wheel mounting groove 113 is located at the front of the machine body 110.

[0071] In some possible embodiments provided in this application, the arm magazine 111 is located between the driven wheel and the line connecting at least two drive wheels 120.

[0072] The arm compartment 111 may be provided with an installation structure for mounting the robotic arm 170. Through the installation structure, the robotic arm 170 can be fixed in the arm compartment 111 and then fixed on the machine body 110.

[0073] The arm 111 is located between the driven wheel and the line connecting the driven wheel and at least two drive wheels 120, indicating that the robotic arm 170 is mounted on the machine body 110 between the driven wheel and the line connecting the driven wheel and at least two drive wheels 120. Taking the drive wheels 120 as two examples, the robotic arm 170 is mounted on the machine body 110 within the triangular area enclosed by the driven wheel and the two drive wheels 120. This arrangement allows the cleaning equipment 100 to achieve a better center of gravity, that is, the center of gravity of the cleaning equipment 100 can coincide with or be close to the support center formed by the two drive wheels and one driven wheel, so as to ensure the stability and reliability of the cleaning equipment 100 during operation.

[0074] In other words, in this embodiment of the application, the arm housing 111 is positioned between the driven wheel and at least two drive wheels 120, with the driven wheel located on the side of the line connecting the two drive wheels 120 closer to the front of the machine body 110. This allows the robotic arm 170 to be mounted on the side of the line connecting the two drive wheels 120 closer to the front of the machine body 110. The cleaning device 100 is supported by the driven wheel and at least two drive wheels 120, enabling the cleaning device 100 to achieve a better center of gravity. Understandably, when the projection of the robotic arm 170 on the machine body 110 does not overlap with the line connecting at least two drive wheels 120 and the area at the rear of the machine body 110, as shown in Figure 11, that is, when the projection of the robotic arm 170 on the machine body 110 is located on the side of the line connecting at least two drive wheels 120 closer to the front of the machine body 110, the auxiliary wheel 130 switches to the first position. At this time, the driven wheel and at least two drive wheels 120 are used to support the cleaning device 100, so that the cleaning device 100 can reach a better center of gravity. When the projection of the robotic arm 170 onto the machine body 110 overlaps with the line connecting at least two drive wheels 120 and the rear area of ​​the machine body 110, as shown in Figures 12 and 13, i.e., when the projection of the robotic arm 170 onto the machine body 110 is located on the side of the line connecting at least two drive wheels 120 closer to the rear of the machine body 110, the auxiliary wheel 130 switches to the second position. The auxiliary wheel 130, at least two drive wheels 120, and driven wheels jointly support the machine body 110, allowing the cleaning device 100 to achieve a better center of gravity. Therefore, the cleaning device 100 maintains a good center of gravity in various postures, preventing the cleaning device 100 from tipping over due to a shift in its center of gravity, and greatly improving the stability of the cleaning device 100.

[0075] In the above embodiments, the number of driven wheels is at least one, such as one, two, three, or other numbers. Specifically, as shown in Figures 1 to 3, the number of driven wheels is one, which can provide good support and steering for the cleaning equipment 100 and help save on the production cost of the cleaning equipment 100. Multiple driven wheels can be arranged at intervals along the shape of the front edge of the machine body 110 at the bottom of the machine body 110.

[0076] In the above embodiments, the number of auxiliary wheels 130 is at least one, such as one, two, three, or other numbers. Specifically, as shown in Figures 1 to 3, the number of auxiliary wheels 130 is one, which can provide good support for the cleaning equipment 100 and help save on the production cost of the cleaning equipment 100. Multiple auxiliary wheels 130 can be arranged at intervals along the shape of the rear edge of the machine body 110 at the bottom of the machine body 110.

[0077] In the above embodiment, the driven wheel and auxiliary wheel 130 are arranged correspondingly, that is, the number of driven wheels and auxiliary wheels 130 are opposite. This arrangement helps to improve the aesthetic appearance of the cleaning device 100. It is understood that in other examples, the number of driven wheels and auxiliary wheels 130 may not be equal.

[0078] Furthermore, the intersection of the line connecting the corresponding driven wheel and auxiliary wheel 130 with the line connecting at least two drive wheels 120 is located at the geometric center of the machine body 110. This allows the cleaning device 100 with the auxiliary wheel 130 in the second position to achieve a better center of gravity, improving the stability of the cleaning device 100 when the auxiliary wheel 130 is in the second position.

[0079] Specifically, the line connecting the driven wheel and the auxiliary wheel 130 can be arranged perpendicularly or obliquely to the line connecting at least two drive wheels 120.

[0080] Specifically, as shown in Figure 1, when the line connecting the corresponding driven wheel and auxiliary wheel 130 is perpendicular to the line connecting at least two drive wheels 120, it indicates that the driven wheel is located at the bottom of the front of the machine body 110, and the auxiliary wheel 130 is located at the bottom of the rear of the machine body 110. This arrangement can greatly improve the stability of the driven wheel and auxiliary wheel 130 support, and is conducive to improving the aesthetics of the product appearance, making it suitable for widespread application.

[0081] It is understandable that when there is one driven wheel and one auxiliary wheel 130, the intersection of the line connecting the two and the line connecting at least two drive wheels 120 may not be located at the geometric center of the machine body 110.

[0082] As shown in Figures 1 and 2, in some possible embodiments provided in this application, the cleaning device 100 further includes a connecting arm 140, the first end of which is rotatably connected to the machine body 110, and an auxiliary wheel 130 rotatably connected to the second end of the connecting arm 140. The first end of the connecting arm 140 rotates relative to the machine body 110, which can drive the second end of the connecting arm 140 to move closer to or further away from the machine body 110, thereby enabling the auxiliary wheel 130 to switch between a first position and a second position. This arrangement is simple in structure and easy to implement.

[0083] In other words, the connecting arm 140 can be understood as a swing arm that rotates relative to the machine body 110 with its first end as the rotation center. This drives the auxiliary wheel 130, connected to the second end of the connecting arm 140, to move closer to or away from the machine body 110, thereby switching the auxiliary wheel 130 between its first and second positions. The auxiliary wheel 130 is rotatably connected to the second end of the connecting arm 140, allowing the auxiliary wheel 130 in the second position to move smoothly along the surface to be cleaned under the drive of the drive wheel 120. As shown in Figures 5 and 8, in some possible embodiments provided in this application, the cleaning device 100 further includes an elastic element 150 and a drive assembly 160. The elastic element 150 is connected between the connecting arm 140 and the machine body 110, and the drive assembly 160 is disposed on the machine body 110. The drive assembly 160 cooperates with the elastic element 150 to rotate the first end of the connecting arm 140 relative to the machine body 110, thereby driving the auxiliary wheel 130 to switch between its first and second positions.

[0084] Therefore, by setting up the elastic element 150, the drive assembly 160, and the connecting arm 140, and rotatably connecting the first end of the connecting arm 140 to the machine body 110, and rotatably connecting the auxiliary wheel 130 to the second end of the connecting arm 140, the first end of the connecting arm 140 can be driven to rotate relative to the machine body 110 by the cooperation of the elastic element 150 and the drive assembly 160, depending on whether the center of gravity of the cleaning equipment 100 has shifted backward. This drives the auxiliary wheel 130 to switch between the first position and the second position, thereby meeting the requirement that the center of gravity of the cleaning equipment 100 is in different areas and that the center of gravity of the cleaning equipment 100 is relatively stable. This allows the cleaning equipment 100 to have high stability when the robotic arm 170 is in different postures, improving the safety and user satisfaction of using the cleaning equipment 100.

[0085] The elastic element 150 is connected between the connecting arm 140 and the machine body 110. The first end of the elastic element 150 can be directly or indirectly connected to the connecting arm 140, and the second end of the elastic element 150 can be directly or indirectly connected to the machine body 110.

[0086] In some possible embodiments provided in this application, during the switching process of the auxiliary wheel 130 between the first position and the second position, the drive assembly 160 abuts against the connecting arm 140 so that the first end of the connecting arm 140 rotates relative to the machine body 110 in a first direction. This ensures that the drive assembly 160 can stably drive the first end of the connecting arm 140 to rotate relative to the machine body 110, thereby ensuring that the auxiliary wheel 130 can stably switch between the first operating position and the second operating position.

[0087] The drive assembly 160 can directly abut against the connecting arm 140, thereby driving the connecting arm 140 to rotate directly through the movement of the drive assembly 160.

[0088] As shown in Figures 5, 6, and 7, in some possible embodiments provided in this application, the drive assembly 160 is used to drive the connecting arm 140 to rotate relative to the machine body 110 in a first direction, so that the auxiliary wheel 130 switches from a first position to a second position.

[0089] In this embodiment, during the process of the drive assembly 160 driving the connecting arm 140 to rotate relative to the machine body 110 in the first direction, the second end of the connecting arm 140 may move away from the machine body 110, thereby enabling the auxiliary wheel 130 to move away from the machine body 110, so that the auxiliary wheel 130 can switch from the first position to the second position.

[0090] As shown in Figures 8, 9 and 10, in some possible embodiments provided in this application, the elastic element 150 is used to drive the connecting arm 140 to rotate relative to the machine body 110 in a second direction so that the auxiliary wheel 130 switches from a second position to a first position.

[0091] In this embodiment, during the rotation of the connecting arm 140 relative to the machine body 110 in the second direction driven by the elastic element 150, the second end of the connecting arm 140 can move towards the machine body 110, thereby enabling the auxiliary wheel 130 to move towards the machine body 110, so that the auxiliary wheel 130 switches from the second position to the first position. Specifically, the first direction and the second direction are opposite directions.

[0092] Furthermore, during the rotation of the connecting arm 140 relative to the machine body 110 in the first direction driven by the drive assembly 160, the elastic element 150 can accumulate elastic potential energy. When the elastic element 150 releases its elastic potential energy, it can drive the connecting arm 140 to rotate relative to the machine body 110 in the second direction, thereby switching the auxiliary wheel 130 from the second position to the first position.

[0093] Specifically, when the drive assembly 160 drives the connecting arm 140 to rotate relative to the machine body 110, causing the auxiliary wheel 130 to move to the second position, the force applied by the drive assembly 160 to the connecting arm 140 is opposite in direction to the force applied by the elastic element 150 to the connecting arm 140. The auxiliary wheel 130 contacts the surface to be cleaned, and the self-locking function of the drive assembly 160 can reliably support the auxiliary wheel 130 on the surface to be cleaned.

[0094] When the elastic element 150 drives the connecting arm 140 to rotate and moves the auxiliary wheel 130 to the first position, the elastic element 150 drives the connecting arm 140 to the extreme position and fixes the connecting arm 140 by its own elastic force.

[0095] When the auxiliary wheel 130 is in the first position or the second position, the elastic element 150 can be in a deformed state to maintain the force applied to the connecting arm 140.

[0096] As shown in Figures 7 and 10, in some possible embodiments provided in this application, the drive assembly 160 includes: a lead screw 161, a sleeve 162, and a drive unit 163. The sleeve 162 is sleeved on the outside of the lead screw 161 and is threadedly connected to the lead screw 161. The drive unit 163 is disposed on the machine body 110 and is connected to the lead screw 161. Thus, the drive unit 163 drives the lead screw 161 to rotate. Since the lead screw 161 and the sleeve 162 are connected by an external thread, the sleeve 162 can move up and down relative to the lead screw 161. The direction indicated by arrow Z in Figures 7 and 10 can be understood as the vertical direction, where Z+ can be understood as vertically upward and Z- can be understood as vertically downward. Specifically, as shown in Figure 7, when the sleeve 162 moves downward relative to the lead screw 161, that is, when the sleeve 162 moves relative to the lead screw 161 in the Z- direction, the sleeve 162 can abut against the connecting arm 140, causing the first end of the connecting arm 140 to rotate relative to the machine body 110 in the first direction, so that the auxiliary wheel 130 switches from the first position to the second position, that is, the bottom end of the auxiliary wheel 130 can move vertically downward, i.e., in the Z- direction. As shown in Figure 10, when the sleeve 162 moves upward relative to the lead screw 161, that is, when the sleeve 162 moves relative to the lead screw 161 in the Z+ direction, under the action of the elastic element 150, the first end of the connecting arm 140 rotates relative to the machine body 110 in the second direction, so that the auxiliary wheel 130 switches from the second position to the first position, that is, the bottom end of the auxiliary wheel 130 moves vertically upward, i.e., in the Z+ direction. Understandably, during the process of the auxiliary wheel 130 switching from the second position to the first position, the sleeve 162 moves upward relative to the lead screw 161 to provide movement space for the second end of the connecting arm 140 to move towards the machine body 110. During this process, the connecting arm 140 is in contact with the sleeve 162 under the action of the elastic element 150.

[0097] As shown in Figures 5, 7, 8 and 10, in some possible embodiments provided in this application, the drive assembly 160 further includes a roller 164 connected to the sleeve 162 on the side away from the drive part 163 and facing the connecting arm 140.

[0098] In other words, the sleeve 162 abuts against the connecting arm 140 via the roller 164. The roller 164 transforms the sliding motion between the sleeve 162 and the connecting arm 140 into rolling motion, reducing friction between them, improving the smoothness of movement of the connecting arm 140 relative to the sleeve 162, and reducing the possibility of interference and jamming. Specifically, the roller 164 can be rotatably connected to the side of the sleeve 162 away from the drive unit 163 via a rotating shaft.

[0099] As shown in Figures 7 and 10, in some possible embodiments provided in this application, a limiting groove 141 is formed on the side of the connecting arm 140 facing the roller 164. At least a portion of the roller 164 is accommodated within the limiting groove 141 and can roll within it. The limiting groove 141 restricts the range of motion of the roller 164 relative to the connecting arm 140, ensuring that the roller 164 can reliably abut against the connecting arm 140 during rolling, thereby driving the first end of the connecting arm 140 to rotate relative to the machine body 110.

[0100] As shown in Figure 8, in some possible embodiments provided in this application, the drive unit 163 and the machine body 110 can be directly connected or indirectly connected. For example, the drive unit 163 can be directly fixed to the machine body 110. Alternatively, the drive assembly 160 can also include a mounting base 165, with the drive unit 163 fixedly connected to the mounting base 165, and the mounting base 165 fixedly connected to the machine body 110, thereby achieving an indirect connection between the drive unit 163 and the machine body 110.

[0101] Furthermore, as shown in Figure 8, the connecting arm 140 can be directly or indirectly connected to the machine body 110. For example, the rotating shaft of the connecting arm 140 can be directly rotatably connected to the machine body 110. Alternatively, the rotating shaft of the connecting arm 140 can be rotatably connected to the fixed seat 142, which is fixedly connected to the machine body 110, thereby achieving an indirect rotatable connection between the connecting arm 140 and the machine body 110.

[0102] In some examples, the mounting base 165 for mounting the drive unit 163 and the fixing base 142 for mounting the connecting arm 140 can be separate structures, fixedly connected by a connector, to further improve the accuracy and stability of the drive assembly 160 and the elastic member 150 driving the connecting arm 140. It is understood that in some examples, the mounting base 165 for mounting the drive unit 163 and the fixing base 142 for mounting the connecting arm 140 can also be an integral structure.

[0103] As shown in Figures 7 and 10, in some possible embodiments provided in this application, the lead screw 161 and sleeve 162 are configured with a threaded self-locking structure. This prevents the connecting arm 140 from moving closer to the machine body 110 under external force when the motor stops. For example, when the auxiliary wheel 130 is in the second position, the motor can stop moving. At this time, because the lead screw 161 and sleeve 162 are configured with a threaded self-locking structure, the auxiliary wheel 130 can be reliably and stably kept in the second position. This avoids the problem of the second end of the connecting shaft moving closer to the machine body 110, causing the bottom end of the auxiliary wheel 130 to be higher than the bottom end of the drive wheel 120, thus losing support for the machine body 110 and causing instability in the cleaning equipment 100. Therefore, the auxiliary wheel 130 in the second position, in conjunction with the drive wheel 120, can provide reliable and stable support for the cleaning equipment 100.

[0104] Furthermore, the lead screw 161 and sleeve 162 are designed with a threaded self-locking structure, which is convenient to process, easy to implement, and has a low cost.

[0105] As shown in Figures 5, 7, 8 and 10, in some possible embodiments provided in this application, the elastic element 150 is a torsion spring, the first torsion arm of the torsion spring is connected to the first end of the connecting arm 140, and the second torsion arm of the torsion spring is connected to the machine body 110, thereby enabling the torsion spring to stably provide elastic force, so that the auxiliary wheel 130 can switch from the second position to the first position.

[0106] Specifically, the torsion spring can be located at the pivot of the connecting arm 140, meaning the torsion spring and the first end of the connecting arm 140 can be coaxially arranged with the pivot of the machine body 110. For example, the torsion spring can be sleeved on the outer periphery of the first end of the connecting shaft relative to the pivot of the machine body 110, with the first torsion arm of the torsion spring connected to the first end of the connecting arm 140 and the second torsion arm of the torsion spring connected to the machine body 110. It is understood that the torsion spring can be located at other positions that meet the requirements.

[0107] In some possible embodiments provided in this application, the elastic element 150 is a tension spring, with the first end of the tension spring connected to the connecting arm 140 and the second end of the tension spring connected to the machine body 110. This allows the tension spring to stably provide elastic force, enabling the auxiliary wheel 130 to switch from the second position to the first position.

[0108] It is understandable that the elastic element 150 can also be other elastic structures that meet the requirements.

[0109] In some possible embodiments provided in this application, the cleaning device 100 further includes: a position detection device, disposed on the machine body 110, for detecting the position of the auxiliary wheel 130, and the drive unit 163 rotating or stopping rotating according to the detection result of the position detection device.

[0110] In this embodiment, the position detection device can promptly and accurately determine the position of the auxiliary wheel 130, thereby facilitating the drive unit 163 to rotate or stop rotating according to the detection structure of the position detection device, so that the auxiliary wheel 130 can accurately and promptly maintain the first position and / or the second position.

[0111] Specifically, the position detection device can detect whether the auxiliary wheel 130 is in the first position and / or the second position. When the auxiliary wheel 130 is in the first position and / or the second position, it indicates that the auxiliary wheel 130 has reached the target position. At this time, the position detection device can send a position signal, and the control device of the cleaning equipment 100 can control the drive unit 163 to stop working according to the position signal, so that the auxiliary wheel 130 remains in the first position and / or the second position. When the auxiliary wheel 130 is not in the first position and / or the second position, it indicates that the auxiliary wheel 130 has not reached the target position. At this time, the position detection device does not need to send a position signal, and the control device of the cleaning equipment 100 can control the drive unit 163 to continue working so that the auxiliary wheel 130 can smoothly reach the target position.

[0112] Specifically, a position detection device can be set up to detect whether the auxiliary wheel 130 has reached the first position or the second position. Alternatively, a position detection device can be set up to detect whether the auxiliary wheel 130 has reached the first position and the second position simultaneously. Or, two position detection devices can be set up to detect whether the auxiliary wheel 130 has reached the first position and the second position separately.

[0113] Specifically, the position detection device can be a photoelectric switch, a mechanical switch, a piezoelectric switch, etc.

[0114] In some possible embodiments provided in this application, the drive unit 163 is provided with an overcurrent protection device. For example, if the drive unit 163 is a motor, the motor is provided with an overcurrent protection device.

[0115] The overcurrent protection device is a protective mechanism that activates the drive unit 163 when the current flowing through it exceeds a predetermined maximum value. Specifically, when the current flowing through the drive unit 163 exceeds a preset value, the protection device activates, causing the drive unit 163 to stop operating. Thus, when the auxiliary wheel 130 or connecting arm 140 experiences a large reverse support force, the overcurrent protection device of the drive unit 163 will activate, causing the drive unit 163 to stop operating, reducing damage to the drive unit 163, extending its service life, and improving its reliability. Simultaneously, the overcurrent protection device allows the drive unit 163 to stop operating when the auxiliary wheel 130 reaches the first and / or second positions, avoiding the problem of the position detection device failing to accurately detect the position of the auxiliary wheel 130 and thus failing to accurately control the drive unit 163 to stop operating.

[0116] In other words, by combining the overcurrent protection device and the position detection device of the drive unit 163, it is possible to perform dual detection on whether the auxiliary wheel 130 has reached the first position and / or the second position, thus solving the problem that the drive unit 163 cannot work accurately due to a fault in one of the overcurrent protection device and the position detection device, and greatly improving the accuracy of the operation of the drive unit 163.

[0117] Specifically, when the auxiliary wheel 130 is in the second position, the auxiliary wheel 130 is in contact with the surface to be cleaned, and the surface to be cleaned provides the auxiliary wheel 130 with a suitable reverse support force. If the drive unit 163 continues to work, the force exerted by the auxiliary wheel 130 on the surface to be cleaned will increase, and the drive unit 163 may be damaged. At the same time, the reverse support force provided by the surface to be cleaned to the auxiliary wheel 130 will increase. At this time, the overcurrent protection device of the drive unit 163 will be activated, which will stop the drive unit 163 from working, so that the auxiliary wheel 130 can be reliably and stably maintained in the second position.

[0118] When the auxiliary wheel 130 is in the first position, the connecting arm 140 abuts against the machine body 110, and the machine body 110 provides the connecting arm 140 with a suitable reverse support force. If the drive unit 163 continues to work, the force exerted by the connecting arm 140 on the machine body 110 will increase, and the drive unit 163 may be damaged. At the same time, when the reverse support force provided by the machine body 110 to the connecting arm 140 increases, the overcurrent protection device of the drive unit 163 will be activated, causing the drive unit 163 to stop working, so that the auxiliary wheel 130 can be reliably and stably maintained in the first position.

[0119] Specifically, a position detection device can be set up to detect whether the auxiliary wheel 130 is in the second position, and whether the auxiliary wheel 130 is in the first position and the second position can also be detected by the overcurrent protection device of the drive unit 163.

[0120] In some possible embodiments provided in this application, the cleaning device 100 further includes a buffer, which is disposed on the connecting arm 140 and / or the machine body 110, and the buffer is located between the side wall of the connecting arm 140 near the machine body 110 and the machine body 110 when the auxiliary wheel 130 is in the first position.

[0121] In this embodiment, as the auxiliary wheel 130 switches from the second position to the first position, the connecting arm 140 gradually approaches the machine body 110. There is a possibility that the side wall of the connecting arm 140 near the machine body 110 may collide with the machine body 110. Therefore, by placing the buffer between the side wall of the connecting arm 140 near the machine body 110 and the machine body 110 when the auxiliary wheel 130 is in the first position, the collision between the connecting arm 140 and the machine body 110 is buffered to a certain extent. This can avoid the possibility of damage to the connecting arm 140 and / or the machine body 110 due to direct collision between the connecting arm 140 and the machine body 110, which is beneficial to extending the service life of the connecting arm 140 and the machine body 110 and improving the overall reliability of the cleaning equipment 100.

[0122] Furthermore, the buffer can be set on the connecting arm 140, such as on the side wall of the connecting arm 140 near the machine body 110 when the auxiliary wheel 130 is in the first position; or, the buffer can be set on the machine body 110, or the buffer can be set on both the connecting arm 140 and the machine body 110, to meet the needs of different structures and different arrangements of the buffer.

[0123] Specifically, the cushioning element can be an elastic plastic pad, spring, sponge, or other structure. Specifically, the cushioning element can be connected to the connecting arm 140 and / or the machine body 110 by at least one of the following structures: bolt structure, snap-fit ​​structure, plug-in structure, tenon structure, and adhesive.

[0124] In some possible embodiments provided in this application, a storage groove 112 is provided at the bottom of the machine body 110, and the auxiliary wheel 130 in the first position is accommodated in the storage groove 112. This allows the auxiliary wheel 130 in the first position to not protrude from the bottom of the machine body 110 or to protrude slightly from the bottom of the machine body 110, resulting in a larger distance between the bottom end of the auxiliary wheel 130 and the bottom end of the drive wheel 120. This reduces the possibility of interference between the auxiliary wheel 130 in the first position and obstacles at the bottom of the cleaning device 100, such as thresholds, greatly improving the smoothness of movement of the cleaning device 100. Simultaneously, when the auxiliary wheel 130 in the first position does not protrude from the bottom of the machine body 110, the neatness and aesthetics of the cleaning device 100's appearance are improved.

[0125] It is understandable that when the auxiliary wheel 130 is in the first position, the connecting arm 140 connected to the auxiliary wheel 130 can also be accommodated in the storage slot 112, so as to further reduce the possibility of interference between the connecting arm 140 and obstacles such as thresholds, greatly improve the smoothness of the movement of the cleaning equipment 100, and improve the cleanliness and aesthetics of the appearance of the cleaning equipment 100.

[0126] In the description of this application, the term "multiple" refers to two or more. Unless otherwise expressly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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. Therefore, they should not be construed as limitations on this application. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be 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 application according to the specific circumstances.

[0127] Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A cleaning device (100), wherein, include: Machine body (110); At least two drive wheels (120) are located at the bottom of the machine body (110), and the drive wheels (120) are rotatably configured to move the machine body (110); An auxiliary wheel (130) is located at the bottom of the machine body (110). The auxiliary wheel (130) is located on the rear side of the machine body (110) relative to the line connecting at least two of the drive wheels (120). The auxiliary wheel (130) is movably connected to the machine body (110) and can switch between a first position and a second position. When the auxiliary wheel (130) is in the second position, it is lower than when it is in the first position.

2. The cleaning equipment (100) according to claim 1, wherein, When the center of gravity of the machine body (110) is located at the rear of the machine body (110) relative to the line connecting at least two of the drive wheels (120), the auxiliary wheel (130) switches from the first position to the second position, wherein the auxiliary wheel (130) and the drive wheel (120) in the second position are in contact with the surface to be cleaned.

3. The cleaning equipment (100) according to claim 1, wherein, When the auxiliary wheel (130) is in the second position, its bottom end does not protrude beyond the bottom end of the drive wheel (120).

4. The cleaning equipment (100) according to claim 1, wherein, Also includes: A robotic arm (170) is connected to the machine body (110). The robotic arm (170) is foldable or unfoldable relative to the machine body (110). The connection point between the robotic arm (170) and the machine body (110) is located on the front side of the machine body (110) relative to the line connecting at least two of the drive wheels (120).

5. The cleaning equipment (100) according to claim 4, wherein, When the projection of the robotic arm (170) onto the machine body (110) overlaps with the line connecting at least two of the drive wheels (120) and the area at the rear of the machine body (110), the auxiliary wheel (130) switches to the second position; When the projection of the robotic arm (170) onto the machine body (110) does not overlap with the line connecting at least two drive wheels (120) and the area at the rear of the machine body (110), the auxiliary wheel (130) switches to the first position.

6. The cleaning equipment (100) according to claim 5, wherein, The top of the machine body (110) is provided with an arm compartment (111), and the robotic arm (170) can be folded and stored in the arm compartment (111).

7. The cleaning equipment (100) according to claim 6, wherein, Also includes: A driven wheel is located at the bottom of the machine body (110), and the line connecting the driven wheel with respect to at least two of the drive wheels (120) is located on the front side of the machine body (110).

8. The cleaning equipment (100) according to claim 7, wherein, The arm compartment (111) is located between the driven wheel and the line connecting at least two of the drive wheels (120).

9. The cleaning equipment (100) according to claim 7, wherein, The number of driven wheels is at least one, and / or The number of the auxiliary wheels (130) is at least one, and / or The driven wheel and the auxiliary wheel (130) are arranged accordingly.

10. The cleaning equipment (100) according to claim 9, wherein, The intersection of the line connecting the corresponding driven wheel and the auxiliary wheel (130) with the line connecting at least two of the drive wheels (120) is located at the geometric center of the machine body (110).

11. The cleaning equipment (100) according to claim 1, wherein, Also includes: A connecting arm (140) is provided, the first end of which is rotatably connected to the machine body (110), and an auxiliary wheel (130) is rotatably connected to the second end of the connecting arm (140). The first end of the connecting arm (140) rotates relative to the machine body (110) to allow the auxiliary wheel (130) to switch between the first position and the second position.

12. The cleaning equipment (100) according to claim 11, wherein, Also includes: An elastic element (150) is connected between the connecting arm (140) and the machine body (110); A drive assembly (160) is disposed on the machine body (110) and configured to cooperate with the elastic element (150) to rotate the connecting arm (140) relative to the machine body (110) to drive the auxiliary wheel (130) to switch between the first position and the second position.

13. The cleaning equipment (100) according to claim 12, wherein, During the switching of the auxiliary wheel (130) between the first position and the second position, the drive assembly (160) abuts against the connecting arm (140) to cause the first end of the connecting arm (140) to rotate relative to the machine body (110).

14. The cleaning equipment (100) according to claim 12, wherein, The drive assembly (160) is configured to drive the connecting arm (140) to rotate relative to the machine body (110) in a first direction, so that the auxiliary wheel (130) switches from the first position to the second position.

15. The cleaning equipment (100) according to claim 12, wherein, The elastic element (150) is used to drive the connecting arm (140) to rotate relative to the machine body (110) in a second direction, so that the auxiliary wheel (130) switches from the second position to the first position.

16. The cleaning equipment (100) according to claim 12, wherein, The drive component (160) includes: The machine comprises a lead screw (161), a sleeve (162), and a drive unit (163). The sleeve (162) is fitted around the outside of the lead screw (161) and is threadedly connected to the lead screw (161). The drive unit (163) is mounted on the machine body (110) and connected to the lead screw (161). The drive unit (163) drives the lead screw (161) to rotate, so that the sleeve (162) moves relative to the lead screw (161) to abut against the connecting arm (140).

17. The cleaning device (100) according to claim 16, wherein, The drive assembly (160) also includes a roller (164) connected to the sleeve (162) on the side away from the drive unit (163) and facing the connecting arm (140).

18. The cleaning equipment (100) according to claim 17, wherein, The connecting arm (140) has a limiting groove (141) on the side facing the roller (164), at least part of the roller (164) is accommodated in the limiting groove (141) and can roll in the limiting groove (141).

19. The cleaning equipment (100) according to claim 16, wherein, The lead screw (161) and the sleeve (162) are configured with a threaded self-locking structure.

20. The cleaning equipment (100) according to claim 12, wherein, The elastic element (150) is a torsion spring, the first torsion arm of the torsion spring is connected to the first end of the connecting arm (140), and the second torsion arm of the torsion spring is connected to the machine body (110); or The elastic element (150) is a tension spring, the first end of which is connected to the connecting arm (140), and the second end of which is connected to the machine body (110).

21. The cleaning equipment (100) according to claim 16, wherein, Also includes: A position detection device is installed on the machine body (110) and configured to detect the position of the auxiliary wheel (130). The drive unit (163) rotates or stops rotating according to the detection result of the position detection device.

22. The cleaning equipment (100) according to claim 16, wherein, The drive unit (163) is equipped with an overcurrent protection device.

23. The cleaning equipment (100) according to claim 16, wherein, Also includes: A buffer is disposed on the connecting arm (140) and / or the machine body (110), the buffer being located between the side wall of the connecting arm (140) near the machine body (110) and the machine body (110) when the auxiliary wheel (130) is in the first position.

24. The cleaning equipment (100) according to claim 1, wherein, The bottom of the machine body (110) is provided with a storage groove (112), and the auxiliary wheel (130) located in the first position is accommodated in the storage groove (112).

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