Traveling wheel module and cleaning robot

Abstract

Disclosed in the present disclosure are a traveling wheel module and a cleaning robot. The traveling wheel module comprises: a traveling wheel; and a wheel body cleaning portion. The wheel body cleaning portion is in contact with the traveling wheel, and the wheel body cleaning portion is used for cleaning the traveling wheel. By means of the wheel body cleaning portion on the traveling wheel module cleaning the traveling wheel, dust and foreign matter on the traveling wheel are prevented from being carried to other positions, thereby ensuring the cleaning efficiency and cleaning effect of the cleaning robot, and preventing the traveling wheel from slipping.

Description

Walking wheel module and cleaning robot Cross-references to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202422816334.8, filed on November 18, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning robot technology, and more particularly to a walking wheel module and a cleaning robot. Background Technology

[0003] In related technologies, the cleaning robots' wheels pick up dust and foreign objects from the surface to be cleaned when they move. As the wheels move, the dust and foreign objects on the surface of the wheels can easily be carried to other parts of the surface to be cleaned, requiring the cleaning robot to clean repeatedly or causing the cleaning robot to clean incompletely, affecting the cleaning efficiency and cleaning effect. In addition, the adhesion and accumulation of dust, foreign objects, water and other substances on the surface of the wheels can also easily cause the wheels to slip. Summary of the Invention

[0004] This disclosure aims to address at least one of the technical problems existing in the prior art or related technologies.

[0005] In view of this, the present disclosure provides a walking wheel module and a cleaning robot.

[0006] Specifically, the following technical solutions are included:

[0007] An embodiment of the first aspect of this disclosure provides a walking wheel module, the walking wheel module comprising:

[0008] Wheels;

[0009] A wheel cleaning section is provided, which contacts the traveling wheel and is used to clean the traveling wheel.

[0010] In some embodiments, the wheel cleaning section includes a cleaning segment disposed on the outer periphery of the traveling wheel, the cleaning segment contacting or interfering with the traveling wheel to clean the traveling wheel.

[0011] In some embodiments, in the width direction of the traveling wheel, the cleaning segment has a size adapted to the width of the traveling wheel, and the width of the cleaning segment is not less than the maximum width of the contact surface between the traveling wheel and the surface to be cleaned.

[0012] In some embodiments, the wheel cleaning section further includes a connecting section connected to the cleaning section.

[0013] In some embodiments, the walking wheel module further includes a power transmission device for driving the walking wheel to rotate.

[0014] In some embodiments, the power transmission device includes a gearbox and a drive unit. The drive unit is disposed at a first end of the gearbox, and the traveling wheel is disposed at a second end of the gearbox. The gearbox contains a plurality of gears that mesh sequentially. The gears include at least a first gear and a second gear. The drive unit is fixedly connected to the first gear, and the traveling wheel is fixedly connected to the second gear via a connecting shaft.

[0015] In some embodiments, the wheel cleaning section includes a connecting section and a cleaning section, the connecting section being fixedly connected to the power transmission device.

[0016] In some embodiments, the walking wheel module further includes:

[0017] An arc-shaped baffle is disposed on the power transmission device, and the arc-shaped baffle is in clearance fit with the walking wheel.

[0018] In some embodiments, the connecting segment is fixed to the arc-shaped baffle, and the cleaning segment is disposed at the end of the connecting segment away from the arc-shaped baffle; or the connecting segment is fixed to the support shaft of the walking wheel, and the cleaning segment is disposed at the end of the connecting segment away from the support shaft.

[0019] In some embodiments, the arc-shaped baffle has a size adapted to the width of the walking wheel in the width direction of the walking wheel.

[0020] In some embodiments, in the width direction of the walking wheel, the arc-shaped baffle is provided with a mounting portion of the connecting section at a position opposite to the walking wheel.

[0021] In some embodiments, the mounting portion is a fixing post, a mounting cavity, or other structure capable of fixing the connecting section.

[0022] In some embodiments, the cleaning segment is made of a flexible or elastic material, and the cleaning segment intersects with the projection of the walking wheel onto a preset plane;

[0023] The preset plane is perpendicular to the surface to be cleaned, and the preset plane is parallel to the plane where the walking wheel is located.

[0024] In some embodiments, the cleaning section is a brush, a cleaning cloth, or other material or structure capable of cleaning the wheels.

[0025] In some embodiments, when moving forward, the wheel cleaning portion is located on the side of the walking wheel away from the surface to be cleaned in the direction of rotation of the walking wheel; and / or

[0026] The wheel cleaning section is located on the side where the walking wheel rotates into the surface to be cleaned.

[0027] In some embodiments, the walking wheel module is configured on a cleaning robot, the cleaning robot including a housing, at least a portion of the wheel cleaning section being disposed within the housing, the wheel cleaning section including a connecting section and a cleaning section, the connecting section being connected to the housing, and the cleaning section being disposed toward the walking wheel.

[0028] According to a second aspect of this disclosure, a cleaning robot is provided, the cleaning robot comprising:

[0029] The main body of the machine; and

[0030] As described above, the walking wheel module is mounted on the machine body.

[0031] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure 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 disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 is a schematic diagram of a walking wheel module according to a first embodiment of the present disclosure;

[0034] Figure 2 is a schematic diagram of a walking wheel module according to a second embodiment of the present disclosure;

[0035] Figure 3 is a schematic diagram of a walking wheel module according to a third embodiment of the present disclosure;

[0036] Figure 4 is a schematic diagram of a walking wheel module according to a fourth embodiment of the present disclosure;

[0037] Figure 5 is a schematic diagram of a cleaning robot according to an embodiment of the present disclosure.

[0038] The correspondence between the reference numerals and component names in Figures 1 to 5 is as follows:

[0039] 100 Walking wheel module, 110 Wheel cleaning unit, 111 Connecting section, 112 Cleaning section, 120 Walking wheel, 130 Gearbox, 140 Drive unit, 150 Arc baffle, 200 Cleaning robot, 210 Forward section, 220 Reverse section. Detailed Implementation

[0040] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. 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.

[0041] Before providing a further detailed description of the embodiments of this disclosure, the directional terms used in the embodiments of this disclosure, such as "upper part," "lower part," and "side part," are not intended to limit the scope of protection of this disclosure.

[0042] To make the technical solutions and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0043] This disclosure provides a walking wheel module and a cleaning robot, wherein the walking wheel is cleaned by the wheel cleaning part on the walking wheel module, so as to avoid carrying dust and foreign objects on the walking wheel to other locations, ensuring the cleaning efficiency and cleaning effect of the cleaning robot, and preventing the walking wheel from slipping.

[0044] Figure 5 is a schematic diagram of a cleaning robot according to one embodiment. As shown in Figure 5, the cleaning robot 200 can be a vacuum cleaning robot, a mopping / brushing robot, a window climbing robot, or a handheld washer-extractor (not shown). The cleaning robot 200 can include a mobile platform, a sensing system, a control system, a drive system, a cleaning system, an energy system, a human-machine interaction system, and a walking wheel module 100.

[0045] The perception system includes a position determination device located on the mobile platform, a collision sensor mounted on the forward collision structure of the forward portion 210 of the mobile platform, a proximity sensor located on the side of the mobile platform, a cliff sensor located under the mobile platform, and sensors such as a magnetometer, accelerometer, gyroscope, and odometer located inside the mobile platform. These sensors provide the controller with various position and motion status information of the cleaning robot 200. Furthermore, the position determination device can also be used to determine obstacle information, such as the height and width of obstacles, to determine whether the cleaning robot 200 can cross them. The control system is located on a circuit board within the mobile platform and includes a computing processor that communicates with non-transitory memory (e.g., hard disk, flash memory, random access memory) to create a real-time map of the environment in which the cleaning robot 200 is located. The drive system can manipulate the mobile platform to traverse the ground based on drive commands with distance and angle information. The cleaning system may include a dry cleaning system and / or a wet cleaning system. The dry cleaning system may include a roller brush, a dustbin, a fan, and an air outlet to ultimately collect dust and debris from the ground into the dustbin. The wet cleaning system may include: a wet cleaning component, a lifting unit, a water delivery mechanism, and a liquid storage tank. The wet cleaning component cleans the surface by evenly applying cleaning fluid. The energy system includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries, to provide power to the cleaning robot. The human-machine interface system includes buttons on the main control panel for user function selection; it may also include a display screen and / or indicator lights and / or a speaker, which show the user the current machine mode or function selection; and it may also include a mobile client application.

[0046] The mobile platform is configured to automatically move along a target direction on the surface to be cleaned. In some embodiments, the cleaning robot 200 may be a floor-mopping robot, in which case the cleaning robot 200 works on the ground, and the ground is the surface to be cleaned; the cleaning robot 200 may also be a window-cleaning robot, in which case the cleaning robot 200 works on the glass surface, and the glass is the surface to be cleaned; the cleaning robot 200 may also be a pipe cleaning robot, in which case the cleaning robot 200 works on the inner surface of the pipe, and the pipe surface is the surface to be cleaned. The following description in this disclosure uses a floor-mopping robot as an example.

[0047] In some embodiments, the wheel modules 100 are disposed on the side of the cleaning robot 200 facing the surface to be cleaned, and at least a portion of the wheel modules 100 are located on the outer side of the housing of the cleaning robot 200. Typically, the cleaning robot 200 may have two, three, or four wheel modules 100. When the cleaning robot 200 has two wheel modules 100, the two wheel modules 100 are located between the forward portion 210 and the rearward portion 220. When the cleaning robot 200 has three wheel modules 100, the three wheel modules 100 are arranged in a triangular pattern below the cleaning robot 200. When the cleaning robot 200 has four wheel modules 100, the four wheel modules 100 are arranged in a square or rectangular pattern below the cleaning robot 200. In this case, two wheel modules 100 are positioned closer to the forward portion 210, and the other two wheel modules 100 are positioned closer to the rearward portion 220. The structure of a single wheel module 100 will be described below.

[0048] As shown in Figures 1 to 4, one embodiment of this disclosure provides a walking wheel module 100 for a cleaning robot 200. The walking wheel module 100 drives a mobile platform to move on a surface to be cleaned. The walking wheel module 100 includes:

[0049] 120 wheels;

[0050] The wheel cleaning part 110 is in contact with the traveling wheel 120 and is used to clean the traveling wheel 120.

[0051] The walking wheel module 100 includes a walking wheel 120 and a wheel cleaning part 110, ensuring that the walking wheel 120 and the wheel cleaning part 110 are in contact. That is, the walking wheel 120 and at least part of the wheel cleaning part 110 are in contact with each other. When the walking wheel 120 rotates, the wheel cleaning part 110 can scrape off dust and foreign objects on the walking wheel 120 under the action of rotational force, preventing the walking wheel 120 from carrying dust and foreign objects to the next area to be cleaned. This allows for better planning of the cleaning path of the cleaning robot 200, avoiding repeated cleaning and ensuring the cleaning efficiency of the cleaning robot 200. Simultaneously, the dry cleaning mode can absorb the dust and foreign objects scraped off the walking wheel 120, ensuring the cleaning effect of the cleaning robot 200. It also prevents the walking wheel 120 from slipping due to impurities and water on it, ensuring the normal movement of the walking wheel 120.

[0052] Specifically, a virtual ring can be set on the outside of the walking wheel 120. The virtual ring is concentric with the walking wheel 120. The wheel cleaning part 110 can be set at any position on the virtual ring, as long as the wheel cleaning part 110 and the walking wheel 120 are in contact. In this way, during the walking and rotating process of the walking wheel 120, due to the combined action of rotational force and contact friction, the wheel cleaning part 110 can scrape off the dust and foreign objects carried on the walking wheel 120, ensuring the cleanliness of the walking wheel 120 and preventing dust and foreign objects from one part of the surface to be cleaned from being carried to the next part of the surface to be cleaned. This can improve the cleaning effect and cleaning efficiency of the cleaning robot 200, and at the same time, it can also prevent the walking wheel 120 from slipping due to dust, foreign objects and / or liquids on the walking wheel 120, ensuring the normal walking of the walking wheel 120.

[0053] It should be noted that the wheel cleaning section 110 includes a cleaning segment 112, which is disposed on the outer periphery of the traveling wheel 120. The cleaning segment 112 interferes with the traveling wheel 120 to clean the traveling wheel 120. Assuming the surface to be cleaned is a reference plane, a plane that is perpendicular to the surface to be cleaned and parallel to the plane where the traveling wheel 120 is located is set as a preset plane. The interference between the cleaning segment 112 and the traveling wheel 120 means that the projections of the traveling wheel 120 and the cleaning segment 112 on the preset plane intersect. In this way, the traveling wheel 120 is cleaned under the dual action of the rotational force of the traveling wheel 120 and the squeezing force of the interference, further improving the cleaning effect of the traveling wheel 120.

[0054] In some embodiments, the cleaning section 112 has a size adapted to the width of the wheel 120 in the width direction. In this disclosure, the size adapted to the width means that the width of the cleaning section 112 is not less than the maximum width of the contact surface between the wheel 120 and the surface to be cleaned. That is, the width of the cleaning section 112 must be able to cover the entire width of the wheel 120 in contact with the surface to be cleaned when it is moving. This ensures thorough cleaning of the wheel 120 and prevents insufficient cleaning width of the cleaning section 112, which could lead to incomplete cleaning of the wheel 120 and affect the cleaning effect and the reliability of its movement.

[0055] The wheel cleaning section 110 also includes a connecting section 111, which is connected to the cleaning section 112, so that the cleaning section 112 can be fixedly connected to the walking wheel module 100. The connecting section 111 provides a certain support for the cleaning section 112, forming a supporting force. Together with the interference between the cleaning section 112 and the walking wheel 120, a stable squeezing force is formed, thereby ensuring the effectiveness and reliability of the cleaning of the cleaning section 112.

[0056] In one feasible implementation, the walking wheel module 100 further includes a power transmission device for driving the walking wheel 120 to move.

[0057] The walking wheel 120 is driven by a power transmission device, which provides rotational force to the walking wheel 120. The cleaning section 112 interferes with the walking wheel 120, forming a squeezing force. The combination of rotational force and squeezing force improves the cleaning effect of the cleaning section 112 on the walking wheel 120, prevents the walking wheel 120 from bringing dirt to the cleaned area, and also prevents the walking wheel 120 from slipping.

[0058] It should be noted that the power transmission device includes a gearbox 130 and a drive unit 140. The drive unit 140 is located at the first end of the gearbox 130, and the traveling wheel 120 is located at the second end of the gearbox 130. The gearbox 130 is provided with a plurality of gears that mesh in sequence. The gears include at least a first gear and a second gear. The drive unit 140 is fixedly connected to the first gear, and the traveling wheel 120 is fixedly connected to the second gear through a connecting shaft.

[0059] Multiple gears are installed inside the gearbox 130, with adjacent gears meshing with each other. The gears at both ends of the gearbox 130 are the first gear and the second gear, respectively. The output shaft of the drive unit 140 is fixedly connected to the first gear, and the traveling wheel 120 is fixedly connected to the second gear through a connecting shaft. The rotation of the output shaft of the drive unit 140 drives the first gear to rotate, which in turn drives the meshing intermediate gears to rotate in sequence. Finally, the rotational force is transmitted to the second gear, and the rotation of the second gear drives the rotation of the traveling wheel 120, thus achieving the purpose of the drive unit 140 driving the traveling wheel 120 to rotate.

[0060] It should be noted that when there are only two gears in the gearbox 130, the first gear and the second gear, the first gear and the second gear mesh directly. The rotational force of the drive unit 140 is transmitted to the traveling wheel 120 through the first gear and the second gear, thereby realizing the rotation of the traveling wheel 120. It can be understood that at least one intermediate gear can also be provided between the first gear and the second gear. The intermediate gear meshes sequentially, and the intermediate gear meshes with the first gear and the second gear respectively, to ensure the stable transmission of the rotational force of the drive unit 140.

[0061] In some embodiments, the drive unit 140 can be directly connected to the walking wheel 120, and the drive unit 140 can directly drive the walking wheel 120 to walk. Since the cleaning robot is developing towards miniaturization, the drive unit 140 directly driving the walking wheel 120 will increase the size of the cleaning robot 200 in the width direction (the direction perpendicular to the line connecting the front part 210 and the rear part 220), which is not conducive to the miniaturization of the cleaning robot 200. By using gear transmission to realize the transmission of rotational force, the drive unit 140 and the walking wheel 120 can be positioned between the front part 210 and the rear part 220 of the cleaning robot 200. That is, the shell of the cleaning robot 200 can cover the walking wheel module 100, without increasing the projected area of ​​the cleaning robot 200 on the surface to be cleaned, which is conducive to the miniaturization of the cleaning robot 200.

[0062] In some embodiments, the connecting segment 111 is fixedly connected to the power transmission device, as shown in FIG2. One end of the connecting segment 111 is fixedly connected to the power transmission device, providing a supporting force for the cleaning segment 112 and improving the cleaning stability of the cleaning segment 112.

[0063] Specifically, the connecting section 111 of the wheel cleaning part 110 can be set on the gearbox 130, and the wheel cleaning part 110 is located on the side of the gearbox 130 close to the walking wheel 120. In this way, the dust and foreign objects on the walking wheel 120 can be scraped with a smaller volume of wheel cleaning part 110. On the one hand, it can reduce production costs, and on the other hand, it can reduce the area occupied by wheel cleaning part 110, making room for other components inside the cleaning robot 200.

[0064] In some embodiments, the wheel cleaning section 110 is perpendicular to the gearbox 130, and the wheel cleaning section 110 and the traveling wheel 120 are located on the same side as the gearbox 130. The end of the wheel cleaning section 110 near the gearbox 130 is a connecting end, used for fixed connection or detachable connection with the gearbox 130. It is understood that, to facilitate regular cleaning of the wheel cleaning section 110 by the user, it is usually configured as a detachable unit. The detachable connection can be achieved by providing a latch on the gearbox 130 and a protrusion on the connecting end of the connecting section 111 facing the gearbox 130; or by providing a protrusion on the gearbox 130 and a latch on the connecting end of the connecting section 111 facing the gearbox 130, with the latch and protrusion engaging to achieve a detachable connection between the wheel cleaning section 110 and the gearbox 130. Alternatively, the wheel cleaning section 110 can be detachably connected to the gearbox 130 via bolts. Threaded holes are provided along the length of the wheel cleaning section 110, where the length refers to the distance between the end closest to the gearbox 130 and the end furthest from the gearbox 130. Similarly, threaded holes are also provided at corresponding positions on the gearbox 130. Bolts are screwed into these two threaded holes to connect them, thus achieving a detachable connection between the wheel cleaning section 110 and the gearbox 130. Alternatively, a magnetic connection can be used to achieve a detachable connection between the wheel cleaning section 110 and the gearbox 130. Any method that ensures the wheel cleaning section 110 can be quickly and easily detached from the gearbox 130 is acceptable; other detachable connection methods will not be listed here.

[0065] It should be noted that the wheel cleaning part 110 extends from one side of the gearbox 130 in a direction away from the gearbox 130, and the extension length should not be less than the width of the traveling wheel 120. That is to say, the width of the entire wheel cleaning part 110 is not less than the maximum width of the traveling wheel 120 in contact with the surface to be cleaned. In this way, during the rotation of the traveling wheel 120, the wheel cleaning part 110 can cover the entire width of the traveling wheel 120, so as to achieve the purpose of cleaning the entire traveling wheel 120 and improve the cleaning area and cleaning efficiency of the traveling wheel 120.

[0066] In some embodiments, the wheel cleaning part 110 is located on the side near the traveling wheel 120, that is, the wheel cleaning part 110 and the traveling wheel 120 have an intersection when projected onto a preset plane. The part of the wheel cleaning part 110 that has this intersection is a brush or a cleaning cloth, and the traveling wheel 120 is cleaned by the brush and the cleaning cloth.

[0067] In one feasible implementation, the walking wheel module 100 further includes:

[0068] An arc-shaped baffle 150 is installed on the power transmission device, and the arc-shaped baffle 150 is clearance-fitted with the traveling wheel 120.

[0069] An arc-shaped baffle 150 is installed on the power transmission device, surrounding the walking wheel 120. This baffle optimizes airflow near the walking wheel 120, reducing airflow resistance during movement and improving the walking efficiency of the cleaning robot 200. In other words, the arc-shaped baffle 150 blocks airflow resistance directly acting on the walking wheel 120, preventing resistance in the opposite direction of travel or reversal, thus improving the walking efficiency of the cleaning robot 200 and reducing energy consumption of the drive system.

[0070] It should be noted that, in order to ensure efficient airflow obstruction, the center of the arc-shaped baffle 150 usually coincides with the center of the traveling wheel 120. The arc-shaped baffle 150 can be a single arc segment set on the gearbox 130, or it can be set in segments. For example, a first arc-shaped baffle is set on the side of the traveling wheel 120 that is away from the surface to be cleaned, and a second arc-shaped baffle is set on the side of the traveling wheel 120 that is in the surface to be cleaned. The first arc-shaped baffle is located on the gearbox 130, and the second arc-shaped baffle is located on the support plate of the power transmission device. The support plate is located on the side of the traveling wheel that is away from the gearbox 130.

[0071] In some embodiments, the arc-shaped baffle 150 has a dimension adapted to the width of the wheel 120 in the width direction. That is, the arc-shaped baffle 150 extends from the gearbox 130 in a direction away from the gearbox 130, with an extension length not less than the width of the wheel 120. In other words, the distance between the end of the arc-shaped baffle 150 connected to the gearbox 130 and the end of the arc-shaped baffle 150 away from the gearbox 130 is equal to the width of the arc-shaped baffle 150, which is not less than the maximum width of the wheel 120 in contact with the surface to be cleaned. This more effectively prevents the airflow generated during the movement of the wheel 120 from acting on the wheel 120. It is understood that a certain gap exists between the arc-shaped baffle 150 and the wheel 120 to avoid direct contact and friction, which would affect the walking efficiency of the wheel 120.

[0072] In one feasible implementation, the connecting section 111 is fixed on the arc-shaped baffle 150, and the cleaning section 112 is disposed at the end of the connecting section 111 away from the arc-shaped baffle 150; or the connecting section 111 is fixed on the support shaft of the traveling wheel 120, and the cleaning section 112 is disposed at the end of the connecting section 111 away from the support shaft.

[0073] In some embodiments, the connecting segment 111 is disposed on the arc-shaped baffle 150, and the cleaning segment 112 is disposed at the end of the connecting segment 111 away from the arc-shaped baffle 150. That is, the wheel cleaning part 110 is located between the arc-shaped baffle 150 and the walking wheel 120. Specifically, when the walking wheel module 100 is provided with the arc-shaped baffle 150, the wheel cleaning part 110 can be disposed on the side of the arc-shaped baffle 150 facing the walking wheel 120. That is, the wheel cleaning part 110 is disposed in the gap between the arc-shaped baffle 150 and the walking wheel 120, without occupying other space, ensuring the compactness of the walking wheel module 100, which is conducive to the miniaturization of the cleaning robot 200.

[0074] It should be noted that when the width of the arc-shaped baffle 150 is equal to the width of the traveling wheel 120, the width of the wheel cleaning part 110 is equal to the width of the arc-shaped baffle 150; when the width of the arc-shaped baffle 150 is greater than the width of the traveling wheel 120, the width of the wheel cleaning part 110 is less than the width of the arc-shaped baffle 150, while the width of the wheel cleaning part 110 is not less than the width of the traveling wheel 120; or the width of the wheel cleaning part 110 is greater than the width of the arc-shaped baffle 150, in which case the wheel cleaning part 110 protrudes from the arc-shaped baffle 150, making it easier to remove the wheel cleaning part 110 from the arc-shaped baffle 150 and improving the disassembly efficiency of the wheel cleaning part 110.

[0075] In some embodiments, the connecting section 111 can also be connected to the support shaft of the traveling wheel 120. In this case, the connecting section 111 is L-shaped, that is, it includes a vertically connected vertical rod and a horizontal plate. The end of the vertical rod away from the horizontal plate is fixedly connected to the support shaft. The horizontal plate is located on the outer periphery of the traveling wheel 120, that is, there is a gap between the horizontal plate and the traveling wheel 120. A cleaning section 112 is provided on the side of the horizontal plate facing the traveling wheel 120. The support shaft, vertical rod and horizontal plate support the cleaning section 112, ensuring that the cleaning section 112 and the traveling wheel 120 generate a squeezing force. Under the dual action of the friction force of the rotating traveling wheel 120, the cleaning section 112 cleans the traveling wheel 120. It can be understood that at this time, the gear shaft in the gearbox 130 is fixedly connected to the bushing of the traveling wheel 120. The bushing is provided with a bearing and a support shaft. That is, the bushing, the outer ring of the bearing and the gear shaft in the gearbox 130 rotate together and drive the traveling wheel 120 to move. The support shaft is fixed to support the connecting section 111. In this case, the connecting section 111 is located on the side of the walking wheel 120 away from the power transmission device.

[0076] In one feasible implementation, a mounting portion for a connecting section 111 is provided on the arc-shaped baffle 150 at a position opposite to the traveling wheel 120. The mounting portion is used to install the connecting section 111, thereby supporting the connecting section 111 and ensuring the stability of the wheel cleaning section 110 during cleaning.

[0077] In some embodiments, the mounting part is a fixed post or a mounting cavity. That is, when the mounting part is a fixed post, a circular groove is provided on the side of the connecting section 111 facing the arc-shaped baffle 150, and the circular groove is inserted into the fixed post; or the mounting part is a mounting cavity, and a protrusion is provided on the side of the connecting section 111 facing the arc-shaped baffle 150, and the protrusion is inserted into the mounting cavity. It is understood that, in the plug-in connection, a track and / or a protruding connecting part can be provided on the fixed post (inside the mounting cavity), and a protruding connecting part and / or a track can be provided in the circular groove (on the protrusion). The positions of the track and the protruding connecting part correspond to each other, which improves the stability of the connection between the mounting part and the connecting section 111 and prevents the connecting section 111 from falling out of the mounting part.

[0078] In one feasible implementation, the cleaning section 112 is made of a flexible or elastic material, and the projection of the cleaning section 112 and the walking wheel 120 on a preset plane intersects.

[0079] The preset plane is set perpendicular to the surface to be cleaned, and the preset plane is parallel to the plane where the walking wheel 120 is located.

[0080] When the wheel cleaning section 110 is positioned between the arc-shaped baffle 150 and the traveling wheel 120, the wheel cleaning section 110 includes a connecting section 111 and a cleaning section 112 connected to each other. The connecting section 111 connects to the arc-shaped baffle 150, while the cleaning section 112 contacts and interferes with the traveling wheel 120. That is, the cleaning section 112 and the projection of the traveling wheel 120 onto a preset plane intersect. The preset plane is a plane perpendicular to the surface to be cleaned and parallel to the plane containing the traveling wheel 120. This ensures that the wheel cleaning section 110 is positioned between the arc-shaped baffle 150 and the traveling wheel 120, while simultaneously exerting pressure on the traveling wheel 120. Under the rotational force of the traveling wheel 120, dust and foreign objects on the traveling wheel 120 can be effectively scraped away.

[0081] In some embodiments, the cleaning section 112 is made of a flexible material. Cleaning the travel wheel 120 with the flexible cleaning section 112 can prevent the cleaning section 112 from causing wear on the travel wheel 120. On the one hand, it can prevent the balance of the travel wheel 120 from deviating, ensuring that the travel wheel 120 can always travel accurately on the planned route. On the other hand, it can also prevent dust and dirt from hiding in the grooves caused by wear, making it impossible to thoroughly clean the travel wheel 120. The cleaning section 112 can also be made of an elastic material, which can also achieve the above effects, and will not be described in detail.

[0082] It should be noted that the connecting section 111 and the arc-shaped baffle 150 can be integrally formed or detachably connected. When the connecting section 111 and the arc-shaped baffle 150 are integrally formed, the arc-shaped baffle 150 and the gearbox 130 can be detachably connected, facilitating the removal of the arc-shaped baffle 150 and the wheel cleaning part 110 together for cleaning and replacement. When the connecting section 111 and the arc-shaped baffle 150 are detachably connected, the arc-shaped baffle 150 and the gearbox 130 can be either detachably connected or integrally formed. Typically, the arc-shaped baffle 150 and the gearbox 130 are integrally formed, but a detachable fixed connection achieved through bolts or clips is also possible. When the arc-shaped baffle 150 and the gearbox 130 are integrally formed, the wheel cleaning part 110 can protrude from the arc-shaped baffle 150, which makes it easy for the wheel cleaning part 110 to be disassembled from the arc-shaped baffle 150; when the arc-shaped baffle 150 and the gearbox 130 are detachably connected, the length of the wheel cleaning part 110 should not be less than the width of the traveling wheel 120.

[0083] In some embodiments, the detachable connection between the arc-shaped baffle 150 and the gearbox 130 can be achieved through the engagement of a bayonet and a protrusion, magnetic attraction, or bolt connection. Similarly, the detachable connection between the arc-shaped baffle 150 and the wheel cleaning section 110 can also be achieved through the engagement of a bayonet and a protrusion, magnetic attraction, or bolt connection. Specifically, a dovetail groove can be provided on the arc-shaped baffle 150, and a dovetail block can be provided on the connecting section 111 of the wheel cleaning section 110; or a dovetail block can be provided on the arc-shaped baffle 150, and a dovetail groove can be provided on the connecting section 111 of the wheel cleaning section 110. The detachable connection between the wheel cleaning section 110 and the arc-shaped baffle 150 is achieved through the dovetail groove and the dovetail block.

[0084] In some embodiments, when the wheel cleaning part 110 and the arc-shaped baffle 150 are connected by a dovetail groove and a dovetail block, a protrusion is provided on the side of the arc-shaped baffle 150 away from the traveling wheel 120, and a dovetail groove or dovetail block is provided on the side of the protrusion facing the traveling wheel 120. That is to say, by providing the protrusion, the distance between the arc-shaped baffle 150 and the traveling wheel 120 can be increased, which provides more installation space for the wheel cleaning part 110, thereby improving the reliability and stability of the connection between the wheel cleaning part 110 and the arc-shaped baffle 150, and preventing the rotational force of the traveling wheel 120 during the walking process from acting on the wheel cleaning part 110, which would cause the wheel cleaning part 110 to loosen and thus affect the cleaning effect on the traveling wheel 120.

[0085] In one feasible implementation, the cleaning section 112 is a brush or a cleaning cloth.

[0086] The cleaning section 112 can be a brush. Since there is some interference between the cleaning section 112 and the wheel 120, cleaning the surface of the wheel 120 with the brush can remove dust and foreign objects from the grooves of the wheel 120, improving the cleaning effect of the wheel cleaning section 110. The cleaning section 112 can also be a cleaning cloth of a certain thickness. Wiping the wheel 120 with the cleaning cloth can also effectively remove dust and foreign objects from the surface of the wheel 120.

[0087] It is understood that the cleaning section 112 of this disclosure is a brush or cleaning cloth, and is only an example. Other materials that can clean the wheels are also included in the scope of this disclosure, such as rubber, which will not be described in detail here.

[0088] In one possible implementation, the wheel cleaning section 110 is located on the side of the traveling wheel 120 that is away from the surface to be cleaned; and / or

[0089] The wheel cleaning section 110 is located on the side where the traveling wheel 120 rotates into the surface to be cleaned; and the wheel cleaning section 110 and the traveling wheel 120 have an intersection in their projections on a preset plane.

[0090] In this case, if the traveling wheel 120 is set to rotate counterclockwise in Figures 2 to 4 as the forward direction, then the line connecting the bottom and top ends of the traveling wheel 120 divides the traveling wheel 120 into a left part and a right part. The left part is the part where the traveling wheel 120 rotates into the surface to be cleaned, and the right part is the side where the traveling wheel 120 rotates away from the surface to be cleaned. As shown in Figure 1, when the wheel cleaning part 110 is only located on the left side of the traveling wheel 120, that is, on the side of the traveling wheel 120 that enters the surface to be cleaned, the dust and foreign objects on the traveling wheel 120 are left on the side of the wheel cleaning part 110 away from the surface to be cleaned. The dust and dirt on the traveling wheel 120 that enters the surface to be cleaned are intercepted, and the traveling wheel 120 re-enters the surface to be cleaned in a clean state. When it leaves the surface to be cleaned, the traveling wheel 120 picks up dust and foreign objects again, and then rotates back to the side of the surface to be cleaned, and continues to be intercepted by the wheel cleaning part 110. The traveling wheel 120 re-enters the surface to be cleaned in a clean state, and so on, to prevent dust and dirt from entering other areas of the surface to be cleaned. As shown in Figure 3, when the wheel cleaning unit 110 is only located on the right side of the walking wheel 120, that is, the wheel cleaning unit 110 is located on the side of the walking wheel 120 that is away from the surface to be cleaned, the dust and foreign objects on the walking wheel 120 are left on the rear side of the walking direction. Then, the walking wheel 120 that enters the side of the surface to be cleaned is free of dust and foreign objects and enters the next surface area to be cleaned in a clean state. The dust and foreign objects left on the rear side can be cleaned by the cleaning system of the cleaning robot 200. As shown in Figure 4, when two wheel cleaning sections 110 are simultaneously installed on both sides of the walking wheel 120, that is, one wheel cleaning section 110 is installed on each side where the walking wheel 120 rotates into and away from the surface to be cleaned, the wheel cleaning section 110 on the right side can leave some of the dust and foreign objects carried by the walking wheel 120 behind in the direction of travel, and clean them by the cleaning system of the cleaning robot 200. Some dust and foreign objects will continue to rotate with the walking wheel 120 and reach the wheel cleaning section 110 on the left side for secondary cleaning, leaving the remaining dust and foreign objects above the wheel cleaning section 110 on the left side, so that the walking wheel 120 entering the next surface area to be cleaned is clean, further improving the cleaning effect of the wheel cleaning section 110 on the walking wheel 120.

[0091] It is understandable that when the drive system rotates in the opposite direction, that is, when the cleaning robot 200 moves backward to the rearward part 220, that is, when the walking wheel 120 rotates clockwise as shown in Figures 2 to 4, the line connecting the bottom and top of the walking wheel 120 divides the walking wheel 120 into a left part and a right part. At this time, the left part is the side of the walking wheel 120 that has turned away from the surface to be cleaned, and the right part is the side of the walking wheel 120 that has turned into the surface to be cleaned. The rest of the principle is as described above and will not be repeated.

[0092] It should be noted that the wheel cleaning section 110 and the traveling wheel 120 overlap on the surface to be cleaned. In other words, the wheel cleaning section 110, based on the arc-shaped baffle 150, should be positioned as close as possible to the surface to be cleaned. This ensures that the traveling wheel 120, when turning into and away from the surface to be cleaned, has minimal contact with the air, avoids adsorbing dust from the air, and ensures the cleanliness of the traveling wheel 120.

[0093] In one feasible implementation, the walking wheel module 100 is configured on the cleaning robot 200, which includes a housing, and at least a portion of the wheel cleaning section 110 is disposed within the housing. The wheel cleaning section 110 includes a connecting section 111 and a cleaning section 112. The connecting section 111 is connected to the housing, and the cleaning section 112 is disposed toward the walking wheel 120.

[0094] The walking wheel module 100 can also be set on the housing of the cleaning robot 200. At least part of the wheel cleaning part 110 is located inside the housing, and the wheel cleaning part 110 located outside the housing leaves a gap with the surface to be cleaned. On the one hand, this avoids the wheel cleaning part 110 from directly contacting the surface to be cleaned and causing wear to the surface. On the other hand, if the wheel cleaning part 110 contacts the surface to be cleaned, that is, if the wheel cleaning part 110 is perpendicular to the surface to be cleaned, the walking wheel 120 is in point contact with the surface to be cleaned. Therefore, the end of the wheel cleaning part 110 that is perpendicular to the surface to be cleaned cannot form a squeezing force, thus losing the cleaning area of ​​the wheel cleaning part 110.

[0095] It should be noted that when the wheel cleaning part 110 is provided on the housing, the wheel cleaning part 110 is located on the side where the traveling wheel 120 rotates away from the surface to be cleaned; and / or the wheel cleaning part 110 is located on the side where the traveling wheel 120 rotates into the surface to be cleaned. Similarly, if the traveling wheel 120 is set to rotate counterclockwise in the forward direction in Figures 2 to 4, then the line connecting the lowermost and uppermost ends of the traveling wheel 120 divides the traveling wheel 120 into a left part and a right part. The left part is the part where the traveling wheel 120 rotates into the surface to be cleaned, and the right part is the side where the traveling wheel 120 rotates away from the surface to be cleaned. As shown in Figure 1, when the wheel cleaning part 110 is only located on the left side of the traveling wheel 120, that is, on the side of the traveling wheel 120 that enters the surface to be cleaned, the dust and foreign objects on the traveling wheel 120 are left on the side of the wheel cleaning part 110 away from the surface to be cleaned. The dust and dirt on the traveling wheel 120 that enters the surface to be cleaned are intercepted, and the traveling wheel 120 re-enters the surface to be cleaned in a clean state. When it leaves the surface to be cleaned, the traveling wheel 120 picks up dust and foreign objects again, and then rotates back to the side of the surface to be cleaned, and continues to be intercepted by the wheel cleaning part 110. The traveling wheel 120 re-enters the surface to be cleaned in a clean state, and so on, to prevent dust and dirt from entering other areas of the surface to be cleaned. As shown in Figure 3, when the wheel cleaning unit 110 is only located on the right side of the walking wheel 120, that is, the wheel cleaning unit 110 is located on the side of the walking wheel 120 that is away from the surface to be cleaned, the dust and foreign objects on the walking wheel 120 are left on the rear side of the walking direction. Then, the walking wheel 120 that enters the side of the surface to be cleaned is free of dust and foreign objects and enters the next surface area to be cleaned in a clean state. The dust and foreign objects left on the rear side can be cleaned by the cleaning system of the cleaning robot 200. As shown in Figure 4, when two wheel cleaning sections 110 are simultaneously installed on both sides of the walking wheel 120, that is, one wheel cleaning section 110 is installed on each side where the walking wheel 120 rotates into and away from the surface to be cleaned, the wheel cleaning section 110 on the right side can leave some of the dust and foreign objects carried by the walking wheel 120 behind in the direction of travel, and clean them by the cleaning system of the cleaning robot 200. Some dust and foreign objects will continue to rotate with the walking wheel 120 and reach the wheel cleaning section 110 on the left side for secondary cleaning, leaving the remaining dust and foreign objects above the wheel cleaning section 110 on the left side, so that the walking wheel 120 entering the next surface area to be cleaned is clean, further improving the cleaning effect of the wheel cleaning section 110 on the walking wheel 120.

[0096] Another embodiment of this disclosure provides a cleaning robot 200, the cleaning robot 200 comprising:

[0097] The main body of the machine; and

[0098] As mentioned above, the walking wheel module 100 is mounted on the machine body.

[0099] The cleaning robot 200 of this embodiment may include two wheel modules 100, which are symmetrically arranged on both sides of the cleaning robot 200 in the width direction, which is the direction perpendicular to the line connecting the forward portion 210 and the rearward portion 220. One wheel module 100 has a drive unit 140, while the other wheel module 100 may not have a drive unit 140. That is, the cleaning robot 200 may include one active wheel 120 and one passive wheel 120. Alternatively, the cleaning robot 200 may have three wheel modules 100 arranged in an isosceles triangle on the main body. In this case, there may be one or two active wheels 120, depending on the needs. Four wheel modules 100 may also be arranged in a square or rectangle on the main body. In this case, there may be one or two active wheels 120. The active walking wheel 120 refers to the walking wheel module 100 with a drive unit 140, while the driven walking wheel 120 is the walking wheel module 100 without a drive unit.

[0100] The walking wheel 120 and at least part of the wheel cleaning part 110 are interfering with each other. When the walking wheel 120 rotates, the wheel cleaning part 110 can scrape off the dust and foreign objects on the walking wheel 120 under the action of rotational force, preventing the walking wheel 120 from carrying dust and foreign objects to the next area to be cleaned. This allows for better planning of the cleaning path of the cleaning robot 200, avoids repeated cleaning, and ensures the cleaning efficiency of the cleaning robot 200. At the same time, the dry cleaning mode can absorb the dust and foreign objects scraped off on the walking wheel 120, ensuring the cleaning effect of the cleaning robot 200.

[0101] It is understood that since the cleaning robot 200 includes the aforementioned wheel module 100, the cleaning robot 200 of this embodiment possesses all the advantages of the aforementioned wheel module 100, which will not be repeated here.

[0102] The walking wheel module and cleaning robot provided in this disclosure include a walking wheel module and a wheel cleaning part, ensuring that the walking wheel and the wheel cleaning part are in contact. That is, the walking wheel and the wheel cleaning part are in contact with each other. When the walking wheel rotates, the wheel cleaning part can scrape off dust and foreign objects on the walking wheel under the action of rotational force, preventing the walking wheel from carrying dust and foreign objects to the next area to be cleaned. This allows for better planning of the cleaning path of the cleaning robot, avoiding repeated cleaning and ensuring the cleaning efficiency of the cleaning robot. Simultaneously, the dry cleaning mode can absorb the dust and foreign objects scraped off from the walking wheel, ensuring the cleaning effect of the cleaning mop. It also prevents the walking wheel from slipping due to impurities and water on the walking wheel, ensuring normal walking.

[0103] In this disclosure, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term “multiple” means two or more, unless otherwise expressly defined.

[0104] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0105] The above are merely embodiments of this disclosure and are not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A walking wheel module, characterized in that, The walking wheel module includes: Wheels; A wheel cleaning section is provided, which contacts the traveling wheel and is used to clean the traveling wheel.

2. The walking wheel module of claim 1, wherein, The wheel cleaning section includes a cleaning segment disposed on the outer periphery of the traveling wheel. The cleaning segment contacts or interferes with the traveling wheel to clean the traveling wheel.

3. The walking wheel module of claim 2, wherein, In the width direction of the traveling wheel, the cleaning section has a size adapted to the width of the traveling wheel, and the width of the cleaning section is not less than the maximum width of the contact surface between the traveling wheel and the surface to be cleaned.

4. The walking wheel module according to claim 2 or 3, characterized in that The wheel cleaning section also includes a connecting section, which is connected to the cleaning section.

5. The walking wheel module of claim 4, wherein, The walking wheel module also includes a power transmission device for driving the walking wheel to rotate.

6. The walking wheel module of claim 5, wherein, The power transmission device includes a gearbox and a drive unit. The drive unit is located at the first end of the gearbox, and the traveling wheel is located at the second end of the gearbox. The gearbox contains a plurality of gears that mesh sequentially. The gears include at least a first gear and a second gear. The drive unit is fixedly connected to the first gear, and the traveling wheel is fixedly connected to the second gear via a connecting shaft.

7. The walking wheel module of claim 5, wherein, The connecting section is fixedly connected to the power transmission device.

8. The walking wheel module according to any one of claims 5 to 7, characterized in that The walking wheel module also includes: An arc-shaped baffle is disposed on the power transmission device, and the arc-shaped baffle is in clearance fit with the walking wheel.

9. The walking wheel module of claim 8, wherein, The connecting section is fixed to the arc-shaped baffle, and the cleaning section is located at the end of the connecting section away from the arc-shaped baffle; or the connecting section is fixed to the support shaft of the walking wheel, and the cleaning section is located at the end of the connecting section away from the support shaft.

10. The walking wheel module according to claim 8 or 9, characterized in that In the width direction of the traveling wheel, the arc-shaped baffle has a size that matches the width of the traveling wheel.

11. The walking wheel module of claim 9, wherein, The connecting section is mounted on the arc-shaped baffle at a position opposite to the walking wheel.

12. The walking wheel module of claim 11, wherein, The mounting part is a fixing column, a mounting cavity, or other structure that can fix the connecting section.

13. The walking wheel module according to any one of claims 2-12, characterized in that, The cleaning section is made of a flexible or elastic material, and the projection of the cleaning section and the walking wheel on the preset plane intersects. The preset plane is perpendicular to the surface to be cleaned, and the preset plane is parallel to the plane where the walking wheel is located.

14. The walking wheel module of claim 13, wherein, The cleaning section is a brush, a cleaning cloth, or other material or structure capable of cleaning the wheels.

15. The walking wheel module according to any one of claims 1 to 14, characterized in that When moving forward, in the direction of rotation of the walking wheel, the wheel cleaning part is located on the side where the walking wheel turns away from the surface to be cleaned; and / or the wheel cleaning part is located on the side where the walking wheel turns into the surface to be cleaned.

16. The walking wheel module according to any one of claims 1 to 15, characterized in that The walking wheel module is configured on a cleaning robot, which includes a housing. At least a portion of the wheel cleaning section is disposed within the housing. The wheel cleaning section includes a connecting section and a cleaning section. The connecting section is connected to the housing, and the cleaning section is disposed toward the walking wheel.

17. A cleaning robot, characterized in that The cleaning robot includes: The main body of the machine; and The walking wheel module as described in any one of claims 1 to 16, wherein the walking wheel module is disposed on the machine body.

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