Cleaning robot and cleaning system

Abstract

The present disclosure relates to the technical field of electrical equipment, and in particular to a cleaning robot and a cleaning system. The cleaning robot (10) comprises a main body (210) and a traveling wheel assembly (100). The traveling wheel assembly (100) is connected to the main body (210), and the traveling wheel assembly (100) guides the movement of the main body (210). The traveling wheel assembly (100) comprises a main wheel (120), a pressing cover (130), and a connecting assembly (110). The main wheel (120) is connected to the main body (210), and the connecting assembly (110) is connected to the pressing cover (130). When the cleaning robot (10) switches from a first state to a second state, pressure is applied to the main wheel (120) by means of the pressing cover (130), and the pressing cover (130) lifts the main body (210) via the connecting assembly (110). The present disclosure can improve the obstacle crossing capability of the cleaning robot (10), so as to improve the user experience.

Description

A cleaning robot and cleaning system

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese patent application No. 202520163678.5, 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, and in particular relates to a cleaning robot and cleaning system. Background Technology

[0004] With the development of technology and the fast pace of life, using cleaning robots and other cleaning equipment for environmental cleaning not only improves cleaning efficiency but also frees up people's hands. Therefore, cleaning equipment on the market is currently very popular.

[0005] Cleaning robots clean areas automatically. These areas may contain obstacles, and the robot can change its cleaning route to avoid collisions. In some cases, obstacles may be thresholds separating two spaces, requiring the robot to climb over them to clean the area separated by the obstacle. Alternatively, obstacles may be large surfaces like carpets, requiring the robot to climb over them to clean their upper surfaces. Therefore, cleaning robots need a certain level of obstacle-crossing capability. Summary of the Invention

[0006] This disclosure aims to at least partially address the high technical challenges that cleaning robots cannot overcome. To this end, this disclosure provides a cleaning robot and a cleaning system.

[0007] In a first aspect of this disclosure, a cleaning robot is provided, comprising a main body and a wheel assembly, wherein the wheel assembly is connected to the main body to guide its movement. The wheel assembly includes main wheels, a pressure cap, and a connecting assembly connecting the pressure cap. When the main body switches from a first state to a second state, the cleaning robot applies pressure to the main wheels via the pressure cap, and the pressure cap lifts the main body via the connecting assembly.

[0008] In a second aspect of this disclosure, a cleaning system is provided, including a cleaning base station and a cleaning robot provided in the first aspect, wherein the cleaning base station is docked with the cleaning robot. Attached Figure Description

[0009] 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 some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 shows a structural schematic diagram of the walking posture of a cleaning robot provided according to some embodiments of the present disclosure.

[0011] Figure 2 shows a structural schematic diagram of the obstacle-crossing posture of a cleaning robot provided according to some embodiments of the present disclosure.

[0012] Figure 3 shows a schematic diagram of the internal structure of a cleaning robot provided according to some embodiments of the present disclosure.

[0013] Figure 4 is a cross-sectional view taken by line AA in Figure 3.

[0014] Figure 5 shows a schematic diagram of the structure of a walking wheel assembly according to some embodiments of the present disclosure.

[0015] Figure 6 shows an exploded view from a first perspective of a walking wheel assembly according to some embodiments of the present disclosure.

[0016] Figure 7 shows an exploded view from a second perspective of a walking wheel assembly according to some embodiments of the present disclosure.

[0017] Figure 8 is a magnified view of part B in Figure 5.

[0018] Figure 9 shows a schematic diagram of a clutch assembly according to some embodiments of the present disclosure.

[0019] Figure 10 is a magnified view of part C in Figure 5.

[0020] Figure 11 shows a schematic diagram of the structure of a cover according to some embodiments of the present disclosure.

[0021] Figure 12 shows a structural schematic diagram of the lifting stage of the walking wheel assembly according to some embodiments of the present disclosure.

[0022] Figure 13 shows a structural schematic diagram of the obstacle-crossing phase of the walking wheel assembly according to some embodiments of the present disclosure.

[0023] Figure 14 shows a structural schematic diagram of the resetting stage of the walking wheel assembly according to some embodiments of the present disclosure.

[0024] Reference numerals: 10-cleaning robot, 100-walking wheel assembly, 110-connection assembly, 112-drive motor, 113-motor base, 114-transmission unit, 116-tensioning shaft;

[0025] 120-Main Wheel;

[0026] 130-Grip cap, 131-Rotating connection part, 132-Stop surface, 134-Second slide groove, 135-Relief groove, 136-Second receiving part;

[0027] 141-First flexible connector, 142-Servo motor, 143-Second flexible connector, 152-First elastic element, 154-Second elastic element;

[0028] 160-Clutch assembly, 162-Frame component, 162a-First slide groove, 164-Sliding part, 165-Elastic component;

[0029] 170 - Frame, 172 - First receiving part;

[0030] 210 - Main body, 220 - Support wheel, 230 - Guide wheel. Embodiments of the present invention

[0031] 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 a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0032] 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, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0033] 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, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this disclosure.

[0034] With the development of technology and the fast pace of life, using cleaning robots and other cleaning equipment for environmental cleaning not only improves cleaning efficiency but also frees up people's hands. Therefore, cleaning equipment on the market is currently very popular.

[0035] Cleaning robots clean areas automatically. These areas may contain obstacles, and the robot can change its cleaning route to avoid collisions. In some cases, obstacles may be thresholds separating two spaces, requiring the robot to climb over them to clean the area separated by the obstacle. Alternatively, obstacles may be large surfaces like carpets, requiring the robot to climb over them to clean their upper surfaces. Therefore, cleaning robots need a certain level of obstacle-crossing capability.

[0036] In related technologies, obstacle-crossing is often achieved through software strategies, adjusting the angle and speed at which the cleaning equipment approaches the obstacle. However, these methods are limited by factors such as the height of the cleaning equipment off the ground, preventing it from traversing high steps and thus restricting the cleaning area of ​​the robot. The cleaning robot and system provided in this disclosure improve upon these problems. The cleaning robot and system provided in this disclosure allow the robot to climb onto the upper surface of obstacles or traverse them, enabling it to clean areas blocked by obstacles. This increases the robot's operational area and improves the user experience.

[0037] Several embodiments of this disclosure will now be described with reference to the accompanying drawings. It should be noted that the drawings all use hollow arrows to indicate the direction of travel of the cleaning robot 10.

[0038] Figure 1 is a schematic diagram of the cleaning robot 10 of this disclosure in its first state. As shown in Figure 1, the cleaning robot 10 can typically move on the operating surface and clean the operating surface while moving. This disclosure defines the first state as the state of translation (forward, backward, turning) on ​​the operating surface, where translation means that the height change of the cleaning robot 10 during movement is less than a preset value, for example, less than 3 centimeters. The operating surface can be a hard cement surface, a tile surface, etc., or a flexible rubber surface, a carpet surface, etc. This disclosure does not limit the material or hardness of the operating surface.

[0039] As shown in Figure 1, the cleaning robot 10 includes a main body 210, a wheel assembly 100, support wheels 220, and guide wheels 230. The main body 210 is equipped with the wheel assembly 100, guide wheels 230, and support wheels 220. Along the traveling direction of the cleaning robot 10, the side of the main body 210 with the guide wheels 230 is the front side of the main body 210, and the side with the support wheels 220 is the rear side of the main body 210. The guide wheels 230 are mounted on the front side of the wheel assembly 100, and the support wheels 220 are mounted on the rear side of the wheel assembly 100.

[0040] To enable the main body 210 to switch from the first state to the second state, the main body 210 needs to rotate around the central axis of the main wheel 120, causing the front side of the main body 210 to rise and the rear side to fall. The second state refers to the obstacle-crossing posture of the cleaning robot 10 (including the main body 210). The front and rear sides of the main body 210 are defined with respect to the direction in which the main body 210 moves in a straight line. The side that is further forward in the direction of travel of the main body 210 is the front side of the main body 210, and the side that is further backward in the direction of travel of the main body 210 is the rear side of the main body 210.

[0041] Figure 2 is a schematic diagram of the cleaning robot 10 provided in this disclosure in its second state. As shown in Figure 2, the front of the main body 210 is raised, pushing the guide wheel 230 against the top of the obstacle. The guide wheel 230 contacts the upper surface of the obstacle to support the main body 210. The rear of the main body 210 is lowered, and the support wheel 220 abuts against the operating surface, supporting the rear of the main body 210, preventing the rear of the main body 210 from contacting the operating surface and damaging the main body 210, and ensuring that the main body 210 can continue to move.

[0042] Referring to Figures 1 and 2, to enable the main body 210 to switch from the first state to the second state, the walking wheel assembly 100 drives the main body 210 to lift its front side around the central axis of the main wheel 120, pushing the front side of the main body 210 against the obstacle so that the main wheel 120 of the walking wheel assembly 100 can press against the obstacle. In the second state, through the frictional force of the main wheel of the walking wheel assembly 100 against the obstacle and the forward and / or upward driving force, the cleaning robot 10 can climb onto the obstacle, clean the top surface of the obstacle (if necessary), and detach from the obstacle. After detaching from the obstacle, the cleaning robot 10 can clean the area separated by the obstacle.

[0043] Figure 3 is a schematic diagram of the internal structure of the cleaning robot 10 provided in this disclosure, and Figure 4 is a cross-sectional view of the cleaning robot 10 shown in Figure 3 along the AA direction. As shown in Figures 3 and 4, the walking wheel assembly 100 is symmetrically installed on the left and right sides of the main body 210 in the forward direction. The walking wheel assembly 100 can guide the main body 210 to move, so that the main body 210 can move to different positions on the operating surface, thereby cleaning different areas of the operating surface.

[0044] As previously stated, there can be two walking wheel assemblies 100. The two sets of walking wheel assemblies 100 are symmetrically arranged on the left and right sides of the main body 210 along its central axis L, with the main body 210 as the reference. The two sets of walking wheel assemblies 100 cooperate to drive the main body 210 to move forward and backward, turn, or overcome obstacles. This disclosure uses one set of walking wheel assemblies 100 (e.g., the walking wheel assembly 100 on the right side of the direction of travel) as an example to describe the structure and operation of the walking wheel assembly 100. Unless otherwise stated, the description of this set of walking wheel assemblies 100 is also applicable to the other set of walking wheel assemblies 100. The following description, in conjunction with Figures 5 to 13, will explain the specific structure of the walking wheel assembly 100 on the right side of the direction of travel and how the walking wheel assembly 100 drives the main body 210 to move and overcome obstacles.

[0045] Figure 5 is a structural schematic diagram of the walking wheel assembly 100 provided in this disclosure. As shown in Figure 5, the walking wheel assembly 100 includes a connecting component 110, a main wheel 120, a pressure cover 130, a first elastic element 152, and a second elastic element 152. On one hand, the connecting component 110 connects the main body 210 and the main wheel 120. The connecting component 110 can drive the main wheel 120 to rotate, allowing the main body 210 to move on the operating surface. On the other hand, the connecting component 110 is connected to the pressure cover 130 via a connecting shaft. When the pressure cover 130 presses down on the main wheel 120, the main body 210, which is connected to or abuts against the connecting component 110, can be lifted through the connecting component 110. At this time, since the connecting component 110 is located on the front side of the main body 210, the front side of the main body 210 is lifted while the rear side touches the ground.

[0046] Specifically, during the cleaning process of the cleaning robot 10 cleaning the operating surface, the connecting component 110 drives the main wheel 120 to rotate. In this case, the main wheel 120 is moving relative to the connecting component 110; that is, the connecting component 110 and the main body 210 can be considered as a connected whole. The main body 210 and the connecting component 110 are relatively stationary, while the main body 210 and the main wheel 120 are relatively rotating. Therefore, the connecting component 110 and the main wheel 120 are rotating relative to each other, and their states are different. When a force is applied to the pressure cover 130, the pressure cover 130 fixes the main wheel 120 and the connecting component 110, making the main wheel 120 and the connecting component 110 a whole, and synchronizing their states, the main wheel 120 is stationary relative to the connecting component 110.

[0047] Since the main wheel 120 and the connecting assembly 110 can be considered as a whole, when the pressure cover 130 applies a force to the entire walking wheel assembly 100, the whole formed by the connecting assembly 110 and the main wheel 120 can rotate around the central axis of the main wheel 120. That is, the connecting assembly 110 rotates around the central axis of the main wheel 120. Because the connecting assembly 110 connects to the main body 210, the main body 210 can also rotate around the central axis of the main wheel 120, raising its front side and increasing the maximum vertical distance between the front side of the main body 210 and the operating surface, so that the maximum vertical distance between the front side of the main body 210 and the operating surface can be greater than the height of the obstacle. Furthermore, the cleaning robot 10 pushes the front side of the main body 210 against the top surface of the obstacle, allowing the main body 210 to climb to the upper surface of the obstacle or climb over the obstacle. The cleaning robot 10 can clean the area separated by the obstacle, increasing the activity area of ​​the cleaning robot 10 and improving the user experience.

[0048] It is easy to understand that when the pressure cap 130 applies pressure to the main wheel 120, the connecting assembly 110 can still drive the main wheel 120 to rotate, so that the main wheel 120 can move on the operating surface.

[0049] It should be noted that the pressure cap 130 applies pressure to the main wheel 120, and the pressure cap 130 can contact the main wheel 120, meaning that the force of the pressure cap 130 is directly applied to the main wheel 120. In some other embodiments, the pressure cap 130 may not contact the main wheel 120; instead, the pressure cap 130 applies force to the structure connected to the main wheel 120, thereby applying pressure to the main wheel 120.

[0050] The main body 210 is at a certain distance from the operating surface, while the main wheel 120 is in contact with the operating surface, allowing the main wheel 120 to bear the weight of the main body 210. In other words, the main wheel 120 can bear the weight of the entire main body 210. The pressure cover 130 applies a force to the entire walking wheel assembly 100, allowing the connecting assembly 110 to rotate around the central axis of the main wheel 120. Under the action of the overall weight of the machine, the front of the main body 210 is raised and the rear of the main body 210 is lowered, thus preparing for obstacle crossing. This improves the stability of the main body 210 in this posture and ensures the reliability of obstacle crossing.

[0051] In addition, since the main wheel 120 is the rotating structure of the entire cleaning robot 10, when the main body 110 switches from the first state to the second state, the main wheel 120 rotates and lifts the front side of the main body 210. The main wheel 120 also guides the movement of the cleaning robot 10. There is no need to set up a separate structure to guide the rotation of the cleaning robot 10. While ensuring the obstacle-crossing function of the cleaning robot 10, the number of parts of the cleaning robot 10 can be reduced, making the overall structure more compact.

[0052] Under the force of the pressure cap 130, the connecting component 110 and the main wheel 120 become a whole (the connecting component 110 and the main wheel 120 are relatively stationary), and the connecting component 110 and the main wheel 120 rotate as a whole. The relatively stationary connection between the connecting component 110 and the main wheel 120 can also reduce the power loss caused by the rotation between the connecting component 110 and the main wheel 120 during the lifting of the connecting component 110, and reduce the difficulty of lifting the main body 210.

[0053] In one embodiment, the main wheel 120 is located in the middle of the main body 210. Rotating around the main wheel 120 as the rotation center, the front side of the main body 210 is raised and the rear side abuts against the operating surface. While ensuring that the cleaning robot 10 does not tip over, the height that can be crossed over obstacles is expanded, thereby improving the obstacle-crossing ability of the cleaning robot 10.

[0054] It should be noted that the pressure cap 130 applies pressure to the entire walking wheel assembly 100. The point of application of the pressure cap 130 can be the rear side of the central axis of the main wheel 120 (hereinafter referred to as the rear side of the main wheel 120). Applying a downward force to the rear side of the main wheel 120 can lift the front side of the main body 210, or applying an upward force to the front side of the main wheel 120 can also lift the front side of the main body 210.

[0055] The connection component 110 is positioned at the front of the main body 210, meaning that the connection component 110 is located in front of the main wheel 120. When a force is applied to the pressure cover 130, the connection component 110 is positioned in front of the main body 210, which can lift the front of the main body 210, making the vertical distance between the front of the main body 210 and the operating surface greater than the vertical distance between the top surface of the obstacle and the operating surface. This allows the front of the main body 210 to be positioned above the obstacle, thereby enabling the main body 210 to climb over the obstacle.

[0056] Figure 6 is an exploded view of the wheel assembly 100 of this disclosure from a first perspective; Figure 7 is an exploded view of the wheel assembly 100 of this disclosure from a second perspective; and Figure 8 is a partial enlarged view of point B in Figure 5. As shown in Figures 6, 7, and 8, in some embodiments, the connecting assembly 110 includes: a drive motor 112, a motor mount 113, and a transmission part 114. The drive motor 112 is mounted on the motor mount 113, and a pressure cover 130 is rotatably connected to the motor mount 113. The transmission part 114 is connected to the drive motor 112 and is also connected to the main wheel 120. A frame 170 is fixedly connected to the motor mount 113 and covers a portion of the main wheel 120. The pressure cover 130 applies pressure to the wheel assembly 100 through the frame 170.

[0057] As shown in Figures 6, 7, and 8, the frame 170 has a first receiving portion 172 facing the main wheel 120. A portion of the main wheel 120 is disposed within the first receiving portion 172, and the frame 170 maintains a gap with the main wheel 120 through the first receiving portion 172. This gap between the frame 170 and the main wheel 120 prevents the main wheel 120 from contacting the frame 170 during the movement of the guide body 210 on the operating surface, thus reducing interference from the frame 170 on the rotation of the main wheel 120.

[0058] The pressure cap 130 has a second receiving portion 136 facing the first receiving portion 172. A portion of the main wheel 120 is disposed in the second receiving portion 136. The pressure cap 130 maintains a gap with the main wheel 120 through the second receiving portion 136. At least a portion of the frame 170 can also be disposed in the second receiving portion 136. The gap between the pressure cap 130 and the main wheel 120 prevents the main wheel 120 from contacting the pressure cap 130 during the movement of the guide body 210 on the operating surface, thereby reducing the interference of the pressure cap 130 on the rotation of the main wheel 120.

[0059] When the pressure cap 130 is fixedly connected to the motor base 113 and the frame 170, the second drive assembly 140 drives the main wheel 120 to rotate, and the motor base 113 lifts the main body 210.

[0060] Since the drive motor 112 is mounted on the motor base 113, and the frame 170 is fixedly connected to the motor base 113, and the frame 170 covers the part of the main wheel 120, when the cover 130 is fixedly connected to the motor base 113 and the frame 170, the entire connecting assembly 110 and the main wheel 120 are a whole. If the cover 130 does not fix the motor base 113 and the frame 170, since the cover 130 is rotatably connected to the motor base 113, the connecting assembly 110 and the main wheel 120 can move relative to each other, that is, the main wheel 120 can rotate relative to the drive motor 112.

[0061] Along the travel direction of the cleaning robot 10, the motor base 113 is located on the front side of the main wheel 120, with a certain distance between them. The motor base 113 is connected to the main body 210, meaning that the connection point between the motor base 113 and the main body 210 is also a certain distance from the main wheel 120. When the cover 130 fixes the main wheel 120 and the motor base 113, since the motor base 113 is fixed to the main wheel 120, the connection point between the motor base 113 and the main body 210 rotates around the contact part between the main wheel 120 and the operating surface, causing the main body 210 to rotate around the main wheel 120. This allows the front side of the main body 210 to be raised, enabling the cleaning robot 10 to cross obstacles and improving its obstacle-crossing ability.

[0062] In some embodiments, the transmission unit 114 may be a plurality of transmission gears, which drive the main wheel 120 by meshing with each other. Alternatively, the transmission ratio between the connecting assembly 110 and the main wheel 120 may be adjusted by the transmission gears, thereby controlling the rotational speed of the main wheel 120.

[0063] In some embodiments, the second drive assembly 140 further includes a first elastic element 152, which is connected to the pressure cap 130 and the main body 210 respectively. When the cleaning robot 100 switches from the second state to the first state, the first elastic element 152 cooperates with the main body 210 to reset.

[0064] The first elastic element 152 can be arranged in a direction perpendicular to the travel direction of the cleaning robot 10. The first elastic element 152 connects the main body 210 and the pressure cover 130. When the servo motor 142 lifts the main body 210, the main wheel 120 is always in contact with the operating surface. As the main body 210 rises relative to the main wheel 120, the main wheel 120 falls relative to the main body 210, increasing the distance between the main body 210 and the main wheel 120, and stretching the first elastic element 152. If the second drive assembly 140 stops driving, under the restoring force of the first elastic element 152, the main wheel 120 will move towards the main body 210 (which is also the main body 210 moving towards the main wheel), causing the main body 210 to return to its original position.

[0065] As shown in Figures 6, 7, and 8, in some embodiments, the second drive assembly 140 further includes a second elastic element 154, which is connected to the connecting assembly 110 and the pressure cap 130 respectively. When the cleaning robot 100 switches from the second state to the first state, the second elastic element 154 cooperates with the connecting assembly 110 to reset.

[0066] Since the motor base 113 is located in front of the traveling direction of the cleaning robot 10, during the lifting of the main body 210, the second elastic element 154 is stretched in the front-back direction of the main body 210. During obstacle crossing, the obstacle is located in front of the main wheel 120, and the second elastic element 154 can provide a forward restoring force to the main wheel 120, so that the contact part between the main wheel 120 and the obstacle has a certain positive pressure, which can increase the friction between the main wheel 120 and the obstacle and improve the stability of the cleaning robot 10 in overcoming obstacles.

[0067] In some embodiments, the second elastic element 154 connects the pressure cap 130 and the motor base 113. When the second drive assembly 140 lifts the main body 210, the main wheel 120 remains in contact with the operating surface. As the motor base 113 rises relative to the main wheel 120, the main wheel 120 descends relative to the motor base 113, increasing the distance between the motor base 113 and the main wheel 120, thus stretching the first elastic element 152. If the servo motor 142 stops driving, the restoring force of the first elastic element 152 will drive the transmission wheel to move closer to the main body 210, causing the main wheel 120 to return to its original position.

[0068] In some embodiments, the second elastic element 154 and the first elastic element 152 can be springs. The second elastic element 154 and the first elastic element 152 are arranged in different directions. The second elastic element 154 is arranged along the traveling direction of the cleaning robot 10, that is, the second elastic element 154 and the first elastic element 152 can be approximately perpendicular. The second elastic element 154 and the first elastic element 152 can provide two restoring forces in different directions to the main wheel 120, thereby improving the stability of the main wheel 120 during the reset process.

[0069] As shown in Figures 6, 7, and 8, the walking wheel assembly 100 further includes a first flexible connector 141. One end of the first flexible connector 141 is connected to the connecting assembly 110, and the other end of the first flexible connector 141 is connected to the pressure cap 130. When the main body 210 switches from the first state to the second state, the first flexible connector 141 tightens, and the pressure cap 130 pulls up the front side of the main body 210 through the first flexible connector 141.

[0070] The first flexible connector 141 can be a steel wire rope. If the main body needs to switch from the first state to the second state, the first flexible connector 141 is tightened, so that the pressure cover 130 pulls up the front side of the main body 210 through the first flexible connector 141.

[0071] In some embodiments, the connecting assembly 110 (motor mount 113) is provided with a tension shaft 116, and a first flexible connector 141 is wound around the tension shaft 116. One end of the first flexible connector 141 is connected to the servo motor 142, and part of it is wound around the tension shaft 116. The first flexible connector 141 is wound around the tension shaft 116, which means that the connector 143 is wound around the outer surface of the tension shaft 116, and the winding angle of the first flexible connector 141 is less than 360 degrees, that is, the number of turns of the first flexible connector 141 around the tension shaft 116 is less than one turn. This arrangement can reduce the friction between the first flexible connector 141 and the tension shaft 116, reduce the resistance of the servo motor 142 driving the first flexible connector 141, reduce the power loss of the servo motor 142, and reduce costs.

[0072] It is easy to understand that, since the motor base 113 is connected to the main body 210, the first flexible connector 141 drives the motor base 113 to rotate, which in turn drives the main body 210 to rotate. The motor base 113 rotates around the main wheel 120 as its rotation center. In the direction from the main wheel 120 towards the motor base 113 (the distance between the main wheel 120 and the motor base 113 is the lever arm of the motor base 113's rotation), the closer the force application point of the first flexible connector 141 is to the motor base 113, the larger the lever arm, and the smaller the driving force can be. In some embodiments, the force application point of the first flexible connector 141 can be set at the motor base 113, which can reduce the resistance to lifting the main body 210.

[0073] Since the connecting assembly 110 and the frame 170 only need to be fixed when the main body 210 needs to cross obstacles, and pressure is applied to the pressure cap 130 through the first flexible connector 141, the main body 210 is lifted by the connecting assembly 110. The connection assembly 110 and the frame 170 are normally separated. In order to fix the connecting assembly 110 and the main wheel 120 when crossing obstacles, a clutch assembly 160 can be provided. That is, in some other embodiments, as shown in Figures 8 and 9, the walking wheel assembly 100 also includes a clutch assembly 160 and a second flexible connector 143. The clutch assembly 160 can fix the frame 170 and the pressure cap 130, and the second flexible connector 143 connects the clutch assembly 160.

[0074] The clutch assembly 160 can fix the cover 130 and the frame 170, or it can separate the cover 130 and the frame 170. When the cleaning robot 10 needs to overcome obstacles, the clutch assembly 160 fixes the cover 130 and the frame 170. Under the action of the second drive assembly 140, the main wheel 120 and the connecting assembly 110 will not move relative to each other. The main wheel 120 and the connecting assembly 110 become a whole and lift the front of the main body 210. After overcoming the obstacle, the clutch assembly 160 separates the cover 130 and the frame 170, so that the connecting assembly 110 and the main wheel 120 can move relative to each other. This allows the connecting assembly 110 to drive the main wheel 120 to rotate, so that the main body 210 can walk on the operating surface and clean different areas of the operating surface.

[0075] In some embodiments, the second flexible connector 143 connects to the clutch assembly 160, which can drive the clutch assembly 160 to move. The pressure cap 130 can lift the front side of the main body 110 through the second flexible connector 143. The second flexible connector 143 drives the clutch assembly 160 and the lifting connection assembly 110, eliminating the need for other power components to drive the clutch mechanism. This reduces the number of parts and makes the overall structure of the cleaning robot 10 more compact. The reduced number of parts also lowers the implementation cost of the walking wheel assembly 100.

[0076] In other words, in one embodiment of this disclosure, the same flexible member (second flexible connector 143) is connected to both the clutch assembly 160 and the connecting assembly 110. In addition to driving the main wheel 120 and the connecting assembly 110 to rotate, it can also drive the clutch assembly 160 to move, so that the cover 130 is fixed or separated from the frame 170.

[0077] The way in which the second flexible connector 143 lifts the main body 110 is the same as the way in which the first flexible connector 141 lifts the main body 110. Please refer to the specific description of the first flexible connector 141 lifting the main body 110. It will not be repeated here.

[0078] The second flexible connector 143 needs to be connected to the clutch assembly 160. The second flexible connector 143 then drives the rotation of the connecting assembly 110 and the main wheel 120, and also needs to drive the clutch assembly 160 to move. That is, the second flexible connector 143 needs to drive the motor base 113 and the clutch assembly 160. In order for the second flexible connector 143 to be able to drive the clutch assembly 160 to move, as well as drive the overall movement of the connecting assembly 110 and the main wheel 120, the second flexible connector 143 is wound around the tension shaft 116, and the second flexible connector 143 is connected to the clutch assembly 160.

[0079] As shown in Figure 8, in some embodiments, the second flexible connector 143 is a flexible connection structure (e.g., a steel wire rope). One end of the second flexible connector 143 is connected to the servo motor 142 (the servo motor 142 tightens or loosens the second flexible connector 143), and the other end is connected to the clutch assembly 160. The portion of the second flexible connector 143 between the servo motor 142 and the clutch assembly 160 is also wound around the tension shaft 116, that is, the second flexible connector 143 is on the path from the servo motor 142 to the clutch assembly 160. The structures connected by the second flexible connector 143 are, in sequence: servo motor 142, tension shaft 116, and clutch assembly 160.

[0080] As shown in Figure 8, in some embodiments, the second flexible connector 143 is wound around the tension shaft 116, meaning that the second flexible connector 143 is wound around the outer surface of the tension shaft 116, and the winding angle of the second flexible connector 143 is less than 360 degrees, that is, the number of turns of the second flexible connector 143 around the tension shaft 116 is less than one turn. This arrangement can reduce the friction between the second flexible connector 143 and the tension shaft 116, reduce the resistance of the servo motor 142 driving the second flexible connector 143, reduce the power loss of the servo motor 142, and reduce costs.

[0081] Both the servo motor 142 and the clutch assembly 160 are located on the rear side of the tension shaft 116 along the traveling direction of the cleaning robot 10. When the servo motor 142 winds up the second flexible connector 143, the second flexible connector 143 drives the clutch assembly 160, and the pressure cover 130 fixes the main wheel 120 and the connecting assembly 110. After the main wheel 120 and the connecting assembly 110 are fixed as a whole, the servo motor 142 continues to wind up the second flexible connector 143, and the second flexible connector 143 lifts the tension shaft 116, causing the motor base 113 to rotate upward with the main wheel 120 as the rotation center. Since the motor base 113 is connected to the main body 210, the main body 210 also rotates upward, causing the front side of the main body 210 to be lifted, increasing the distance between the front side of the main body 210 and the operating surface, enabling the main body 210 to overcome higher obstacles.

[0082] Figure 9 is a schematic diagram of the clutch assembly 160, and Figure 10 is a partial enlarged view of point C in Figure 5. As shown in Figures 9 and 10, the specific structure of the clutch assembly 160 may include a frame member 162 and a sliding part 164. The frame member 162 is mounted on the frame 170. The frame member 162 has a first sliding groove 162a, and the pressure cover 130 has a second sliding groove 134. The sliding part 164 is movably disposed in the first sliding groove 162a and the second sliding groove 134. When the sliding part 164 abuts against the second sliding groove 134 under the drive of the second flexible connector 143, the pressure cover 130 fixes the frame 170.

[0083] When the servo motor 142 is activated, the second flexible connector 143 drives the sliding part 164 to move along the second slide groove 134, allowing the sliding part 164 to abut against the groove wall of the second slide groove 134. Since the sliding part 164 is installed in the first slide groove 162a, after the sliding part 164 abuts against the groove wall of the second slide groove 134, the cover 130 and the frame 170 are locked. The frame 170 is fixedly connected to the motor base 113, and the cover 130 is rotatably connected to the motor base 113, so that the cover 130, the motor base 113, and the frame 170 are fixed as one unit, thereby fixing the entire connecting assembly 110 and the main wheel 120 as one unit. After the connecting assembly 110 and the main wheel 120 are fixed as one unit, the second flexible connector 143 continues to move to pull the connecting assembly 110 and the main wheel 120 as a whole, so that the cover 130 lifts the front side of the main body 210 through the drive motor 112 and the motor base 113 (connecting assembly 110).

[0084] In some embodiments, the second slide 134 is elongated. Since the pressure cover 130 extends toward the motor base 113, during the transmission process of the servo motor 142 driving the second flexible connector 143, the second flexible connector 143 pulls the sliding part 164 to slide toward the motor base 113. The sliding part 164 abuts against the groove wall of the second slide 134 near the motor base 113, so that the pressure cover 130 and the frame 170 are fixed into a whole, thereby fixing the connecting assembly 110 and the main wheel 120 into a whole.

[0085] In some embodiments, an elastic element 165 is provided within the first slide groove 162a. The elastic element 165 is disposed between the sliding portion 164 and the side wall of the first slide groove 162a near the motor mount 113. When the servo motor 142 is activated, the second flexible connector 143 is wound up, and the sliding portion 164 moves towards the connecting assembly 110 under the pull of the second flexible connector 143, compressing the elastic element 165 and storing force. If the servo motor 142 is activated to release the second flexible connector 143, the elastic element 165, under its own restoring force, can drive the sliding portion 164 to move away from the connecting assembly 110, thus resetting the sliding portion 164. The sliding part 164 moves away from the connecting assembly 110, and the sliding part 164 disengages from the groove wall of the second groove 134 on the side near the motor base 113, so that the cover 130 separates from the frame 170, that is, the connecting assembly 110 and the main wheel 120 can be separated, so that the main wheel 120 can rotate under the drive of the connecting assembly 110, so that the main body 210 moves.

[0086] In some embodiments, the second flexible connector 143 may be inserted through the elastic member 164 so that the clutch assembly 160 can be compactly arranged.

[0087] In some embodiments, the pressure cap 130 is also provided with a relief groove 135, which communicates with the second slide groove 134. When assembling the clutch assembly 160, the sliding part 164 can be assembled into the second slide groove 134 through the relief groove 135, which facilitates the assembly of the clutch assembly 160.

[0088] The clearance groove 135 is connected to the end of the second slide groove 134 away from the motor base 113, and the clearance groove 135 and the second slide groove 134 have a certain angle. When the pressure cover 130 is not needed to fix the motor base 113 and the frame 170, since the sliding part 164 is connected to the elastic member 165, the sliding part 164 can be located at the connection between the second slide groove 134 and the clearance groove 135 (the end of the second slide groove 134 away from the motor base 113), and will not slide out of the clearance groove 135, so that the sliding part 164 can work normally.

[0089] Figure 11 is a schematic diagram of the structure of the cover 130 of this disclosure. In some embodiments, the cover 130 is provided with a stop surface 132, which is located near the rotating connection portion 131 between the cover 130 and the motor base 113. When the cover 130 fixes the motor base 113 and the frame 170, the motor base 113 abuts against the stop surface 132, so that part of the force on the motor base 113 can be transferred to the cover 130, which can reduce the risk of deformation or even damage to the motor base 113. The connecting shaft of the connecting assembly 110 can pass through the rotating connection portion 131.

[0090] During the rotation of the main wheel 120 driven by the drive motor 112, there may be a slight oscillation. When the cover 130 is separated from the frame 170, the motor base 113 is separated from the stop surface 132, which can provide space for the drive motor 112 to swing, reducing the collision between the motor base 113 and the stop surface 132 during the swing, thus preventing damage or abnormal noise.

[0091] The working principle of the walking wheel assembly 100 and the cleaning robot 10 provided in this embodiment is as follows: For ease of understanding, the obstacle-crossing process of the cleaning robot 10 is divided into a lifting stage, an obstacle-crossing stage (second state), and a reset stage. The obstacle-crossing process of the cleaning robot 10 will be described in detail below.

[0092] Figure 12 is a structural schematic diagram of the lifting stage of the walking wheel assembly 100. The arrows in Figure 12 indicate the direction of travel of the cleaning robot 10. As shown in Figure 12, during the lifting stage: when the cleaning robot 10 needs to overcome obstacles while moving on the operating surface, the servo motor 142 retracts the second flexible connector 143. The second flexible connector 143 pulls the sliding part 164 to slide towards the motor seat 113. The sliding part 164 abuts against the end of the second slide groove 134 near the motor seat 113. The frame 170 and the pressure cover 130 are locked, so that the connecting assembly 110 and the main wheel 120 are fixed as a whole. The servo motor 142 continues to retract the second flexible connector 143. The second flexible connector 143 lifts the tension shaft 116, so that the connecting assembly 110 and the main wheel 120 rotate around the main wheel 120 as the rotation center. The motor seat 113 is connected to the main body 210. The main body 210 rotates, so that the front of the main body 210 is lifted and the guide wheel 230 moves above the obstacle. During this process, the second elastic element 154 is compressed and the first elastic element 152 is stretched.

[0093] Figure 13 is a structural schematic diagram of the walking wheel assembly 100 during the obstacle-crossing stage. The arrows in Figure 13 indicate the traveling direction of the cleaning robot 10. As shown in Figure 13, during the obstacle-crossing stage: after the front of the main body 210 is raised, the support wheel 220 on the rear of the main body 210 contacts the ground, supporting the main body 210. The connecting assembly 110 drives the main wheel 120 to move, and the guide wheel 230 is placed on the upper surface of the obstacle, with the main wheel 120 positioned close to the obstacle. The servo motor 142 releases the second flexible connector 143 a certain distance. Under the action of the restoring force of the first elastic element 152, the main wheel 120 moves towards the main body 210, so that the contact point between the main wheel 120 and the obstacle is located less than one-third of the diameter of the main wheel 120. The second elastic element 154 can provide a restoring force (forward restoring force) close to the motor base 113 to the main wheel 120, so that the contact part between the main wheel 120 and the obstacle has a certain positive pressure, which can increase the friction between the main wheel 120 and the obstacle and improve the stability of the cleaning robot 10 in overcoming obstacles.

[0094] Figure 14 is a structural schematic diagram of the walking wheel assembly 100 during the reset phase. The arrows in Figure 14 indicate the direction of travel of the cleaning robot 10. As shown in Figure 14, during the reset phase: after the cleaning robot 10 overcomes the obstacle, the main wheel 120 and the guide wheel 230 contact the ground or the upper surface of the obstacle. The servo motor 142 releases the second flexible connector 143, so that the main wheel 120 is reset under the action of the first elastic member 152 and the second elastic member 154.

[0095] In some embodiments, when the cleaning robot 10 is in a first state, the main wheel 210 rotates to abut against a first operating surface; and when the cleaning robot 10 is in a second state, the main wheel 210 rotates to abut against a second operating surface, wherein the distance between the second operating surface and the first operating surface is greater than a preset value. The preset value is one-third of the diameter of the main wheel.

[0096] The first operating surface can be the operating surface mentioned above, and the second operating surface can be the top surface of the obstacle mentioned above. That is, when the distance between the operating surface and the top surface of the obstacle is greater than one-third of the diameter of the main wheel, it indicates that the height of the obstacle is relatively high. During the obstacle-crossing stage of the cleaning robot 10, the main wheel 120 moves upward a certain distance under the restoring force of the first elastic element 152, so that the contact position between the main wheel 120 and the second operating surface (the top surface of the obstacle) can be less than one-third of the diameter of the main wheel 120, thereby reducing the obstacle-crossing difficulty of the cleaning robot 10 and enabling the cleaning robot 10 to climb over higher obstacles.

[0097] Based on the same inventive concept, this application also provides a cleaning system, which includes a cleaning base station and the aforementioned cleaning equipment. The cleaning base station interfaces with a cleaning robot and can have functions such as charging the cleaning equipment, cleaning the cleaning equipment, and collecting impurities from the cleaning equipment.

[0098] Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this disclosure.

[0099] 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: Main wheel, connected to the main body; Capping; and Connecting components connect to the pressure cap; When the cleaning robot switches from the first state to the second state, pressure is applied to the main wheel through the pressure cover, and the pressure cover lifts the main body through the connecting component.

2. The cleaning robot as described in claim 1, wherein, The first state is the moving state, and the second state is the obstacle crossing state.

3. The cleaning robot as described in claim 1, wherein, The wheel assembly also includes a frame covering at least a portion of the main wheel, the cover applying pressure to the main wheel through the frame.

4. The cleaning robot of claim 3, wherein, The frame has a first receiving portion facing the main wheel, and a portion of the main wheel is disposed within the first receiving portion. The frame maintains a gap with the main wheel through the first receiving portion.

5. The cleaning robot of claim 4, wherein, The pressure cap has a second receiving portion facing the first receiving portion, and the main wheel portion is disposed in the second receiving portion. The pressure cap maintains a gap with the main wheel through the second receiving portion.

6. The cleaning robot of claim 1, wherein, The connecting component is installed at the front of the main body.

7. The cleaning robot as described in claim 6, wherein, When the pressure cap applies pressure to the main wheel, the connecting assembly causes the front side of the main body to lift.

8. The cleaning robot as described in claim 7, wherein, The front side of the main body is raised to the rear side of the main body to abut the operating surface.

9. The cleaning robot as described in claim 6, wherein, The walking wheel assembly further includes a first flexible connector, one end of which is connected to the connecting component, and the other end of which is connected to the pressure cap. When the cleaning robot switches from the first state to the second state, the first flexible connector tightens, and the pressure cap pulls up the front side of the main body through the first flexible connector.

10. The cleaning robot as claimed in claim 9, wherein, The connecting assembly includes a tensioning shaft, and the first flexible connector is wound around the tensioning shaft.

11. The cleaning robot as claimed in claim 6, wherein, The walking wheel assembly further includes a clutch assembly, which includes a frame and a sliding part. The frame has a first sliding groove, and the pressure cover has a corresponding second sliding groove. The sliding part, which is coupled to the second flexible connector, is movably disposed in the first and second sliding grooves. When the cleaning robot switches from the first state to the second state, the sliding part slides towards the front of the main body, the second flexible connector tightens, and the pressure cover pulls up the front of the main body through the second flexible connector.

12. The cleaning robot of claim 11, wherein, An elastic element is provided in the first slide groove. One end of the elastic element abuts against the end of the first slide groove near the front side of the main body, and the other end of the elastic element abuts against the sliding part. The second flexible connector passes through the elastic element.

13. The cleaning robot of claim 11, wherein, The second flexible connector is tightened or loosened by the servo motor.

14. The cleaning robot as claimed in claim 1, wherein, The walking wheel assembly also includes a first elastic element, one end of which is connected to the pressure cap and the other end of which is connected to the main body. When the cleaning robot switches from the second state to the first state, the first elastic element cooperates with the main body to reset.

15. The cleaning robot of claim 14, wherein, The walking wheel assembly also includes a second elastic element, one end of which is connected to the connecting component, and the other end of which is connected to the pressure cap. When the cleaning robot switches from the second state to the first state, the second elastic element cooperates with the connecting component to reset.

16. The cleaning robot as claimed in claim 1, wherein, When the cleaning robot is in the first state, the main wheel rotates and abuts against the first operating surface; and When the cleaning robot is in the second state, the main wheel rotates and abuts against the second operating surface. Wherein, the distance between the second operating surface and the first operating surface is greater than a preset value.

17. The cleaning robot as claimed in claim 1, wherein, The preset value is one-third of the main wheel diameter.

18. A cleaning system comprising a cleaning base station and a cleaning robot as claimed in any one of claims 1-17, wherein the cleaning base station is capable of docking with the cleaning robot.

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