Cleaning robot and cleaning system

Abstract

A cleaning robot, comprising a main body (110) and a traveling wheel assembly (150), wherein the traveling wheel assembly (150) is connected to the main body (110); the traveling wheel assembly (150) guides the movement of the main body (110); the traveling wheel assembly (150) comprises a housing (151), a main wheel (152), an auxiliary wheel (153), and a track (154); the main wheel (152) is rotatably connected to the housing (151), so as to drive the cleaning robot (100) to move; the auxiliary wheel (153) is rotatably connected to the housing (151); the auxiliary wheel (153) and the main wheel (152) are spaced apart; and the track (154) is sleeved over at least part of the circumferential surface of the main wheel (152) and at least part of the circumferential surface of the auxiliary wheel (153).

Description

Cleaning robots and cleaning systems

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese patent application No. 202520167052.1, filed on January 23, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure belongs to the field of electrical equipment technology, specifically relating to a cleaning robot and a cleaning system. Background Technology

[0004] Cleaning robots are common intelligent cleaning appliances, such as robotic vacuum cleaners and automatic sweeping robots. The ability of a cleaning robot to overcome obstacles during autonomous driving is crucial; the obstacle-crossing height limits the robot's working range and operational reliability.

[0005] In related technologies, cleaning robots have poor passability for high obstacles such as thresholds and steps, resulting in limited working range and poor operational reliability. Summary of the Invention

[0006] This disclosure provides a cleaning robot and a cleaning system, which are designed to at least improve the obstacle-crossing ability of the cleaning robot to some extent.

[0007] In a first aspect of this disclosure, a cleaning robot is provided. The cleaning robot includes: a main body; and a wheel assembly connected to the main body, the wheel assembly guiding movement of the main body. The wheel assembly includes: a housing connected to the main body; main wheels rotatably connected to the housing to drive the cleaning robot; auxiliary wheels rotatably connected to the housing, the auxiliary wheels and the main wheels being arranged at intervals; and tracks fitted onto at least a portion of the main wheels and at least a portion of the auxiliary wheels.

[0008] In a second aspect of this disclosure, a cleaning system is provided, including mutually cooperating base stations and the aforementioned cleaning robot. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 is a schematic diagram of the structure of a cleaning robot according to an embodiment of the present disclosure;

[0011] Figure 2 is a bottom view of the cleaning robot shown in Figure 1;

[0012] Figure 3 is a structural schematic diagram of a walking wheel assembly disclosed herein;

[0013] Figure 4 is an internal schematic diagram of the walking wheel assembly shown in Figure 3 after the filler has been removed;

[0014] Figure 5 is a structural schematic diagram of the walking wheel assembly shown in Figure 3 from another perspective;

[0015] Figure 6 is a schematic diagram of the interior of the housing of the walking wheel assembly shown in Figure 5;

[0016] Figure 7 is a schematic diagram of the shell structure;

[0017] Figure 8 is a schematic diagram of the main wheel structure;

[0018] Figure 9 is a schematic diagram of the assembly of the main wheel and the auxiliary wheel;

[0019] Figure 10 is a schematic diagram of the assembly of the filler;

[0020] Figure 11 is an exploded view of the walking wheel assembly;

[0021] Figure 12 is a schematic diagram of the filler in Figure 11;

[0022] Figure 13 is a front view of the walking wheel assembly with the filler removed;

[0023] Figure 14 is a structural schematic diagram of a cleaning robot including a walking wheel assembly according to some embodiments of the present disclosure;

[0024] Figure 15 is a schematic diagram of the obstacle crossing of the cleaning robot shown in Figure 14;

[0025] Figure 16 is a schematic diagram of the assembly of the driven wheel assembly; and

[0026] Figure 17 shows a schematic diagram of a cleaning system according to some embodiments of the present disclosure.

[0027] Figure label:

[0028] Cleaning Robot-100;

[0029] Main body -110;

[0030] Cover -120;

[0031] Roller brush assembly - 130;

[0032] Side brush component -140;

[0033] Wheel assembly - 150;

[0034] Housing-151, mounting hole-1511, first receiving cavity-1512, second receiving cavity-1513, notch-1514;

[0035] Main wheel - 152, wheel body - 1521, tire - 1522, first assembly part - 1523, second assembly part - 1524, stop - 1525;

[0036] Auxiliary wheel-153;

[0037] Tracked-154;

[0038] First drive component - 155;

[0039] Transmission component-156, input gear-1561, output gear-1562;

[0040] Filler-157, mounting hole-1571, sleeve-1572;

[0041] First axis - S1, second axis - S2;

[0042] Driven wheel assembly-160, second drive component-161, worm gear mechanism-162, ball screw mechanism-163. Embodiments of the present invention

[0043] To enable those skilled in the art to more clearly understand this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0044] In related technologies, cleaning robots 100, such as sweeping robots, mopping robots, or combined sweeping and mopping robots, include a main body, walking wheel assemblies located on both sides of the bottom of the main body, and driven wheel assemblies for supporting the main body. By controlling the movement of the walking wheel assemblies and driven wheel assemblies, the cleaning robot 100 can move forward, backward, left, and right in the area to be cleaned. However, during the cleaning process, there may be obstacles such as thresholds or steps that obstruct the movement of the cleaning robot 100, causing it to be unable to pass through, resulting in poor obstacle-crossing ability and limiting the working range and operational reliability of the cleaning robot 100.

[0045] In view of the above-mentioned technical problems, this disclosure provides a cleaning robot 100 and a cleaning system, which can improve the obstacle-crossing ability of the cleaning robot 100 to at least a certain extent.

[0046] Figure 1 is a structural schematic diagram of a cleaning robot 100 according to an embodiment of the present disclosure, and Figure 2 is a bottom view of the cleaning robot shown in Figure 1. Referring to Figures 1 and 2, the cleaning robot 100 includes a main body 110, a cover 120, a roller brush assembly 130, and a side brush assembly 140. The main body 110 defines the appearance of the cleaning robot 100 and supports the various components installed therein. The main body 110 covers the top of the main body 110. The roller brush assembly 130 and the side brush assembly 140 are respectively mounted on the bottom of the main body 110. The roller brush assembly 130 sweeps or disperses dust to improve dust suction efficiency. The side brush assembly 140 is installed on opposite sides of the front side of the bottom of the main body 110 to sweep dust on the cleaning surface that the cleaning robot 100 travels onto into the interior of the main body 110 to perform the cleaning program of the cleaning robot 100.

[0047] Referring to Figure 2, the cleaning robot 100 also includes two walking wheel assemblies 150. The two walking wheel assemblies 150 are arranged opposite each other on both sides of the central area of ​​the bottom of the main body 110 in the direction of travel. During the cleaning process of the cleaning robot 100, the two walking wheel assemblies 150 can move forward, backward or rotate according to instructions to clean the area that needs to be cleaned.

[0048] Referring to Figure 2, the cleaning robot 100 also includes a driven wheel assembly 160, which is rotatably mounted on the front side of the bottom of the main body 110. The angle of the driven wheel assembly 160 changes according to the condition of the floor on which the cleaning robot 100 moves, thereby stabilizing the operating posture of the cleaning robot 100. In another embodiment, the driven wheel assembly 160 can also be mounted on the rear of the main body 110, or the driven wheel assembly 160 can be mounted on both the front and rear of the main body 110, achieving the same purpose and effect.

[0049] Figure 3 is a structural schematic diagram of a walking wheel assembly 150 of this disclosure, and Figure 4 is an internal schematic diagram of the walking wheel assembly shown in Figure 3 after removing the filler 157. Referring to Figures 3 and 4, the walking wheel assembly 150 is mounted on the main body 110 of the cleaning robot 100. The walking wheel assembly 150 guides the movement of the main body 110. The walking wheel assembly 150 includes a housing 151, a main wheel 152, an auxiliary wheel 153, and a track 154. The main wheel 152 is rotatably connected to the housing 151 to drive the cleaning robot 100. The auxiliary wheel 153 is rotatably connected to the housing 151. The auxiliary wheel 153 and the main wheel 152 are arranged at intervals. The track 154 is fitted onto at least a portion of the circumferential surface of the main wheel 152 and at least a portion of the circumferential surface of the auxiliary wheel 153.

[0050] Since the track 154 of the walking wheel assembly 150 is fitted onto at least a portion of the circumference of the main wheel 152 and at least a portion of the circumference of the auxiliary wheel 153, the track 154 can rotate synchronously with the main wheel 152 and the auxiliary wheel 153 when the cleaning robot 100 is walking. When the cleaning robot 100 is walking on a flat surface, the main wheel 152 guides the main body 110 to move. When the cleaning robot 100 encounters an obstacle, the track 154 contacts the obstacle, and utilizing the strong climbing ability of the track 154, the cleaning robot 100 can overcome the obstacle, thereby enabling the cleaning robot 100 to perform cleaning tasks in the space behind the obstacle. This improves the obstacle-crossing ability of the cleaning robot 100 and broadens its application range. The following accompanying drawings further illustrate the specific details of the walking wheel assembly 150.

[0051] Referring to Figures 3 and 4, the housing 151 is provided with a mounting hole 1511, and a rotating shaft (not shown) is provided inside the mounting hole 1511. The housing 151 is connected to the main body 110 through the rotating shaft. When the cleaning robot 100 is moving, due to various road conditions such as smooth surfaces and obstacles on the cleaning surface, the housing 151 can rotate around the rotating shaft, thereby allowing the housing 151 to rotate relative to the main body 110 to adapt to different road conditions on the cleaning surface.

[0052] Referring to Figures 3 and 4, the traveling wheel assembly 150 also includes a first drive member 155. The first drive member 155 is connected to the housing 151. The first drive member 155 is connected to at least one of the main wheel 152 and the auxiliary wheel 153. That is, by operating the first drive member 155, one of the main wheel 152 and the auxiliary wheel 153 can be driven to rotate, and then the other of the main wheel 152 and the auxiliary wheel 153 can be driven to rotate through the transmission of the track 154.

[0053] Figure 5 is a structural schematic diagram of the walking wheel assembly shown in Figure 3 from another perspective. Figure 6 is a schematic diagram of the interior of the housing 151 in Figure 5. Referring to Figures 4 and 6, according to one embodiment of this disclosure, the first drive member 155 is a motor with a rotating output shaft. The output shaft of the first drive member 155 is connected to the central shaft of the main wheel 152 via a transmission member 156, i.e., the main wheel 152 is the driving wheel, and the auxiliary wheel 153 is the auxiliary wheel. The first drive member 155 provides rotational speed and torque to the main wheel 152 via the transmission member 156 to drive the auxiliary wheel 153 and the track 154 to rotate. In another embodiment, the first drive member 155 can also be connected to the auxiliary wheel 153, i.e., the auxiliary wheel 153 is the driving wheel, and the main wheel 152 is the auxiliary wheel, which also achieves the effect of the walking wheel assembly 150 moving and improving the obstacle-crossing ability of the cleaning robot 100.

[0054] Referring to Figures 5 and 6, the first drive member 155 and the main wheel 152 are located inside the housing 151. The output shaft of the first drive member 155 passes through the housing 151 and is located inside the housing 151. The transmission member 156 is located outside the housing 151, that is, the transmission member 156 and the main wheel 152 can be arranged on both sides of the housing 151 to effectively utilize space. The transmission member 156 can be a reduction gear set. The transmission member 156 includes an input gear 1561 and an output gear 1562. The input gear 1561 is connected to the output shaft of the first drive member 155. The input gear 1561 and the output gear 1562 are driven by multiple meshing intermediate gears. The output gear 1562 is connected to the central shaft of the main wheel 152. When the first drive unit 155 receives a power output command, the power is transmitted to the central shaft of the main wheel 152 through the output shaft, input gear 1561, and output gear 1562 of the first drive unit 155, thereby driving the main wheel 152 to rotate; the rotating main wheel 152 drives the auxiliary wheel 153 to rotate synchronously through the track 154.

[0055] Figure 7 is a schematic diagram of the housing 151. Referring to Figure 7, the inner side of the housing 151 has a first receiving cavity 1512 for accommodating the main wheel 152 and a second receiving cavity 1513 for accommodating the first driving component 155. A notch 1514 is provided at the bottom of the first receiving cavity 1512. This notch 1514 is approximately half the circumference of the entire first receiving cavity 1512. A portion of the circumferential surface of the main wheel 152 protrudes from the notch 1514 of the housing 151, allowing the circumferential surface of the main wheel 152 to contact the cleaning surface, thereby generating friction to drive the cleaning robot 100 forward.

[0056] According to one embodiment of this disclosure, at least a portion of the circumferential surface of the main wheel 152 is driveably connected to the track 154. When the main wheel 152 is driven to rotate, the track 154 can rotate synchronously. The drive connection between at least a portion of the circumferential surface of the main wheel 152 and the track 154 means that: a portion of the circumferential surface of the main wheel 152 is covered by the track 154, and during the movement of the cleaning robot 100, a portion of the circumferential surface of the main wheel 152 contacts the cleaning surface, while another portion of the circumferential surface of the main wheel 152 contacts the cleaning surface; or, the entire circumferential surface of the main wheel 152 is covered by the track 154, and during the movement of the cleaning robot 100, the main wheel 152 does not contact the cleaning surface, while the track 154 on the circumferential surface of the main wheel 152 contacts the cleaning surface, thereby utilizing the friction between the track 154 and the cleaning surface to drive the cleaning robot 100 forward. The following description, using Figures 8 and 9, further illustrates the connection between the circumference of the main wheel 152 and the track 154. For the scheme where the entire circumference of the main wheel 152 is covered by the track 154, the description is provided below. The only difference is the coverage area of ​​the track 154 on the circumference of the main wheel 152.

[0057] Figure 8 is a structural schematic diagram of the main wheel 152. Figure 9 is an assembly schematic diagram of the main wheel 152 and the auxiliary wheel 153. According to an embodiment of this disclosure, the main wheel 152 includes a wheel body 1521 and a tire 1522. A first mounting portion 1523 and a second mounting portion 1524 are arranged side by side on the circumferential surface of the wheel body 1521. The tire 1522 is mounted on the first mounting portion 1523. The tire 1522 can be rigidly connected to the first mounting portion 1523. The second mounting portion 1524 engages with the track 154 for transmission. During the movement of the cleaning robot 100, the tire 1522 of the main wheel 152 contacts the cleaning surface to facilitate the cleaning robot 100 to walk on the flat cleaning surface. The second mounting portion 1524 of the main wheel 152 is provided with teeth to engage with the teeth on the inner surface of the track 154 for transmission. When the main wheel 152 rotates, it drives the track 154 to rotate synchronously.

[0058] Referring to Figures 8 and 9, according to one embodiment of this disclosure, the second mounting portion 1524 of the main wheel 152 is disposed inside the housing 151. Along the thickness direction of the housing 151, the second mounting portion 1524 of the main wheel 152 protrudes from the inside of the housing 151 to avoid interference between the housing 151 and the track 154.

[0059] Referring to Figure 9, according to one embodiment of this disclosure, the auxiliary wheel 153 and the main wheel 152 are spaced apart to provide space for the track 154. The circumferential surface of the auxiliary wheel 153 also meshes with the track 154 for transmission. When the main wheel 152 rotates, the auxiliary wheel 153 can be driven to rotate synchronously through the transmission of the track 154.

[0060] Since the second assembly part 1524 of the main wheel 152 and the auxiliary wheel 153 are both meshed with the track 154, the meshing force between the second assembly part 1524 of the main wheel 152, the auxiliary wheel 153 and the track 154 can be guaranteed, preventing the track 154 from falling off during the use of the cleaning robot 100. Therefore, it has good practicality.

[0061] Figure 10 is a schematic diagram of the assembly of the filler 157. Referring to Figure 10, to prevent particulate matter, hair, or other debris from entering the track 154 and affecting the operation of the entire wheel assembly 150, the wheel assembly 150 provided in this disclosure also includes a filler 157. The filler 157 is connected to the housing 151. The filler 157 is disposed within the track 154, between the main wheel 152 and the auxiliary wheel 153. By occupying internal space within the track 154, the filler 157 prevents debris from entering the track 154, thereby ensuring the normal operation of the wheel assembly 150 to a certain extent and improving the reliability of the cleaning robot 100.

[0062] Referring to Figure 10, according to one embodiment of this disclosure, the filler 157 is clearance-fitted with the track 154, main wheel 152, and auxiliary wheel 153. That is, the filler 157 fills the space occupied by the track 154, and has small gaps with the track 154, main wheel 152, and auxiliary wheel 153 around its periphery. During the cleaning robot 100's movement on a flat cleaning surface, the track 154 does not contact the filler 157 to reduce friction between them, thereby reducing energy consumption. During obstacle crossing, the track 154 contacts the obstacle, which in turn causes the track 154 to contact the filler 157. The filler 157 supports the track 154, preventing excessive deformation and ensuring the obstacle-crossing capability of the walking wheel assembly 150.

[0063] Because the filler 157 moves relative to the track 154, main wheel 152, and auxiliary wheel 153, at least a portion of the filler 157 can be elastic to prevent fine particles from entering the gaps between the filler 157 and the track 154, main wheel 152, and auxiliary wheel 153. For example, at least a portion of the circumferential surface of the filler 157 can be tufted or felted to allow the filler 157 to elastically contact at least one of the track 154, main wheel 152, and auxiliary wheel 153, thereby preventing fine particles from entering to a certain extent and ensuring the normal operation of the drive assembly. In some embodiments, under long-term operation of the cleaning robot 100, if the track 154 and the filler 157 wear, the elasticity of at least a portion of the circumferential surface of the filler 157 can maintain the fit between the track 154 and the filler 157 and maintain the tension of the track 154, allowing the wheel assembly 150 to operate normally.

[0064] It should be noted that the elastic contact between the insulator 157 and at least one of the track 154, main wheel 152 and auxiliary wheel 153 means that the insulator 157 is in elastic contact with all of the track 154, main wheel 152 and auxiliary wheel 153; or, the insulator 157 is in elastic contact with one or two of the track 154, main wheel 152 and auxiliary wheel 153, for example, the insulator 157 is only in elastic contact with the track 154, while it is in clearance fit with the main wheel 152 and auxiliary wheel 153.

[0065] Figure 11 is an exploded view of the walking wheel assembly 150. Figure 12 is a structural schematic diagram of the filler 157 in Figure 11. Referring to Figures 11 and 12, the walking wheel assembly 150 also includes an assembly 158. The assembly 158 can be integrally formed inside the housing 501. The assembly 158 is located between the main wheel 152 and the auxiliary wheel 153. The filler 157 can be connected to the assembly 158 by screws or other components. The inner surfaces of the filler 157, track 154, main wheel 152, and auxiliary wheel 153 are all located on the same plane or approximately on the same plane to avoid interfering with other components of the cleaning robot 100 and to improve space utilization.

[0066] Referring to Figures 11 and 12, the inner edge of the main wheel 152 is provided with an annular stop 1525, that is, the inner side of the main wheel 152 includes a protrusion. The filler 157 is provided with a mounting hole 1571. The filler 157 with the mounting hole 1571 is fitted onto the edge of the stop 1525 of the main wheel 152. The filler 157 is connected to a sleeve 1572. The sleeve 1572 is fitted onto the central shaft of the auxiliary wheel 153 to prevent debris from getting tangled on the central shaft of the auxiliary wheel 153.

[0067] Figure 13 is a front view of the walking wheel assembly 150 with the filler 157 removed. Referring to Figure 13, according to an embodiment of this disclosure, along the forward direction of the cleaning robot 100, an auxiliary wheel 153 is disposed in front of the main wheel 152. The axis of the main wheel 152 is a first axis S1. The axis of the auxiliary wheel 153 is a second axis S2. The axis S2 of the auxiliary wheel 153 is not lower than the axis S1 of the main wheel 152. The radius of the auxiliary wheel 153 is smaller than the radius of the main wheel 152. This arrangement allows the bottom of the track 154 to be tilted forward. When the cleaning robot 100 overcomes obstacles, the track 154 has priority over the main wheel 152 in contacting the obstacle, and then utilizes the strong climbing ability of the track 154 to enable the walking wheel assembly 150 to overcome obstacles.

[0068] Based on the aforementioned wheel assembly 150, this disclosure also provides a cleaning robot 100. Figure 14 is a structural schematic diagram of a cleaning robot 100 including the wheel assembly 150 according to some embodiments of this disclosure. Referring to Figure 14, the cleaning robot 100 includes a main body 110 and the aforementioned wheel assembly 150. The wheel assembly 150 can improve the obstacle-crossing ability of the cleaning robot 100.

[0069] Figure 15 is a schematic diagram of the cleaning robot 100 shown in Figure 14 overcoming obstacles. Referring to Figures 14 and 15, as described above, the cleaning robot 100 also includes a driven wheel assembly 160, which is mounted on the bottom of the main body 110 and located in front of the two walking wheel assemblies 150. When the cleaning robot 100 overcomes an obstacle, because the driven wheel assembly 160 is located in front of the walking wheel assemblies 150, it will preferentially contact the obstacle during the obstacle-crossing process. To enable the cleaning robot 100 to successfully overcome obstacles, the driven wheel assembly 160 can be controlled to rise and fall relative to the main body 110, thereby raising the main body 110 and allowing the driven wheel assembly 160 to preferentially pass over the obstacle. When the walking wheel assembly 150 reaches the obstacle, because the walking wheel assembly 150 is a composite drive structure of 1523 and track 154, the track 154 will contact the obstacle first and play its role, enabling the walking wheel assembly 150 to climb the obstacle which is much larger than the radius of the wheel 1523; thus enabling the entire walking wheel assembly 150 to cross the obstacle, so that the entire cleaning robot 100 can cross the obstacle.

[0070] Figure 16 is a schematic diagram of the driven wheel assembly 160. Referring to Figure 16, the cleaning robot 100 also includes a second drive member 161, a worm gear mechanism 162, and a ball screw mechanism 163. The second drive member 161 is connected to the main body 110. The second drive member 161 is a motor. The second drive member 161 includes a rotatable output shaft. The worm of the worm gear mechanism 162 is connected to the output shaft of the second drive member 161. The worm of the worm gear mechanism 162 is connected to the input shaft of the ball screw mechanism 163. The output shaft of the ball screw mechanism 163 is connected to the driven wheel assembly 160. Since the auxiliary wheel of the driven wheel assembly 160 is always in contact with the cleaning surface, when the second drive unit 161 receives the command to start, it transmits power to the ball screw mechanism 163 through the worm gear mechanism. The ball screw mechanism 163 starts to precisely drive the driven wheel assembly 160 to rise and fall, changing the height difference between the driven wheel assembly 160 and the front side of the main body 110, thereby achieving the purpose of increasing the elevation angle of the main body 110 of the cleaning robot 100 and increasing the ground clearance of the front side of the main body 110 of the cleaning robot 100.

[0071] The second drive unit 161 can be a servo motor. The servo motor can receive commands from the controller and its output rotation angle can be precisely controlled. For example, when the drive angle of the second drive unit 161 is 0°, the ground clearance of the front side of the main body 110 of the cleaning robot 100 is minimal, and the cleaning robot 100 is in a walking posture; when the drive angle of the second drive unit 161 is 90°, the ground clearance of the front side of the main body 110 of the cleaning robot 100 is maximum, and the cleaning robot 100 is in its maximum obstacle-crossing posture. In some embodiments, by controlling the rotation angle of the output of the second drive unit 161, the cleaning robot 100 can approach obstacles in different directions and adapt to crossing obstacles of different heights. Therefore, it has excellent flexibility.

[0072] It should be noted that the cleaning robot 100 may turn, reverse, or move forward while traveling towards the target area. The direction of travel of the cleaning robot 100 disclosed herein refers to the direction generated when the cleaning robot 100 travels towards the target area.

[0073] Figure 17 shows a schematic diagram of a cleaning system according to some embodiments of the present disclosure. As shown in Figure 17, the present disclosure also provides a cleaning system 300. The cleaning system 300 includes a base station 200 used in conjunction with the aforementioned cleaning robot 100. The obstacle-crossing capability of the cleaning robot 100 in this cleaning system can be improved, thereby enhancing the user experience.

[0074] According to the cleaning robot and cleaning system provided in this disclosure, since the track of the walking wheel assembly is fitted onto at least a portion of the circumference of the main wheel and at least a portion of the circumference of the auxiliary wheel, the track can rotate synchronously with the main wheel and auxiliary wheel when the cleaning robot is walking. When the cleaning robot is walking on a flat surface, the main wheel guides the movement of the main body; when the cleaning robot encounters an obstacle, the track contacts the obstacle, and the strong climbing ability of the track enables the cleaning robot to cross the obstacle, thereby enabling the cleaning robot to perform cleaning tasks in the space behind the obstacle. This improves the obstacle-crossing ability of the cleaning robot and broadens its application range.

[0075] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0076] In the description of this disclosure, it should be understood that the terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” and “counterclockwise” 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 disclosure and simplifying the description, and are not intended to 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 disclosure.

[0077] In this disclosure, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0078] Furthermore, the use of terms such as "first" and "second" in this disclosure is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this disclosure, "multiple" means two or more, unless otherwise explicitly specified.

[0079] Although embodiments of the present disclosure have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A cleaning robot, comprising: main body; as well as A wheel assembly, connected to the main body, guides the movement of the main body, and includes: The housing connects to the main body; The main wheel is rotatably connected to the housing to drive the cleaning robot forward; An auxiliary wheel is rotatably connected to the housing, and the auxiliary wheel and the main wheel are arranged at intervals. Tracks, fitted onto at least a portion of the main wheels and at least a portion of the auxiliary wheels.

2. The cleaning robot according to claim 1, wherein, At least a portion of the main wheel and the track drive are connected.

3. The cleaning robot according to claim 2, wherein, The main wheel has a first assembly part and a second assembly part arranged side by side on its circumference. The first assembly part is connected to the tire, and the second assembly part is engaged with the track.

4. The cleaning robot according to claim 1 further includes: A filler element is connected to the housing and disposed within the track, located between the main wheel and the auxiliary wheel.

5. The cleaning robot according to claim 4, wherein, The filler is fitted with the track, the main wheel, and the auxiliary wheel with clearance.

6. The cleaning robot according to claim 5, wherein, The filler elastically contacts at least one of the track, the main wheel, and the auxiliary wheel.

7. The cleaning robot according to any one of claims 1-6, wherein, Along the forward direction of the cleaning robot, the auxiliary wheel is located in front of the main wheel, the axis of the auxiliary wheel is not lower than the axis of the main wheel, and the radius of the auxiliary wheel is smaller than the radius of the main wheel.

8. The cleaning robot according to any one of claims 1-6, further comprising: A drive unit is connected to the housing, and the drive unit is connected to one of the main wheel and the auxiliary wheel.

9. The cleaning robot according to any one of claims 1-6, further comprising: Driven wheel assembly, the driven wheel assembly being connected to the main body; wherein... Along the forward direction of the cleaning robot, the auxiliary wheel is located in front of the walking wheel assembly.

10. The cleaning robot according to claim 9, wherein, The driven wheel assembly moves up and down relative to the main body to lift the front side of the main body.

11. A cleaning system comprising a base station used in conjunction with a cleaning robot as described in any one of claims 1-10.

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