Cleaning robot

Abstract

A cleaning robot (1000), comprising a chassis frame (100), at least one main driving wheel (300), at least one auxiliary driving wheel (400), and a driving assembly (500). The driving assembly (500) controls the chassis frame (100) and the auxiliary driving wheel (400) to move from a retracted state to a raised state until the auxiliary driving wheel (400) comes into contact with a working plane after climbing. By raising the auxiliary driving wheel (400), the obstacle surmounting capability of the auxiliary driving wheel (400) is improved. Moreover, during the movement of the chassis frame (100) and the auxiliary driving wheel (500) from the raised state to the retracted state, the driving assembly (500) controls the at least one main driving wheel (300) to move to the working plane after climbing. At this time, the obstacle surmounting of the main driving wheel (300) can be completed by driving the auxiliary driving wheel (400) and the main driving wheel (300) to cooperatively drive the cleaning robot (1000) to move, thereby facilitating an improvement in the overall obstacle surmounting capability of the cleaning robot (1000), and further improving the usage performance of the cleaning robot.

Description

A cleaning robot Cross-references to related applications

[0001] This disclosure claims priority to China National Intellectual Property Administration application No. 202510148841.5 filed on February 10, 2025, entitled “A Cleaning Robot”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure pertains to the field of cleaning equipment technology, and particularly relates to a cleaning robot. Background Technology

[0003] In the current field of mobile robot technology, the chassis design of a robot directly determines its mobility, stability, and adaptability, especially in complex terrain or obstacle-crossing scenarios.

[0004] In related technologies, the chassis of cleaning robots typically employs a fixed drive wheel design, which limits the robot's ability to navigate obstacles or irregular terrain. For example, in cleaning robot applications, cleaning robots using related technologies struggle to effectively cross thresholds, carpet edges, or small obstacles on the ground, thus limiting their working range and efficiency.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this disclosure is to provide a cleaning robot that addresses the problem of low performance in traditional cleaning robots.

[0007] A first aspect of this disclosure provides a cleaning robot, the cleaning robot comprising:

[0008] Chassis frame;

[0009] At least one primary drive wheel and at least one secondary drive wheel; in the forward direction, the at least one secondary drive wheel is located in front of the at least one primary drive wheel;

[0010] The at least one main drive wheel and the at least one auxiliary drive wheel are connected to the chassis frame via a lifting assembly;

[0011] A drive assembly, mounted on the chassis frame, is used to drive the lifting assembly to move, thereby causing the chassis frame and / or the at least one auxiliary drive wheel to move from the retracted state to the raised state, and from the raised state to the retracted state through the movement of the lifting assembly.

[0012] The drive assembly is used to control the chassis frame and the auxiliary drive wheel to move from the retracted state to the raised state until the auxiliary drive wheel contacts the raised working plane; and to control the at least one main drive wheel to move to the raised working plane during the movement of the chassis frame and the auxiliary drive wheel from the raised state to the retracted state.

[0013] In some embodiments of this disclosure, the chassis frame and the at least one auxiliary drive wheel further include a free state between the raised state and the retracted state, wherein the chassis frame and the auxiliary drive wheel are used to return to the free state after the main drive wheel rises to the working plane; and in the free state the auxiliary drive wheel is suspended.

[0014] In some embodiments of this disclosure, the radius of the main drive wheel is larger than the radius of the auxiliary drive wheel.

[0015] In some embodiments of this disclosure, the number of main drive wheels is at least two, the number of auxiliary drive wheels is at least two, and the auxiliary drive wheels are arranged in a one-to-one correspondence with the main drive wheels.

[0016] In some embodiments of this disclosure, the cleaning robot further includes at least one driven wheel connected to the chassis frame, and the driven wheel is positioned in front of the at least two main drive wheels in the forward direction.

[0017] In some embodiments of this disclosure, the lifting assembly includes at least a rocker arm, which is rotatably mounted on the chassis frame. The main drive wheel is mounted on the rocker arm, and the rocker arm, driven by the drive assembly, causes the chassis frame and the auxiliary drive wheel to rise and fall relative to the main drive wheel.

[0018] In some embodiments of this disclosure, the lifting assembly further includes a first crank and a second crank; the rocker arm includes a first hinge point, a second hinge point, and a third hinge point; one end of the first crank is connected to the drive assembly, and the other end of the first crank is hinged to the first hinge point of the rocker arm; one end of the second crank is hinged to the chassis frame, and the other end of the second crank is hinged to the second hinge point of the rocker arm; the auxiliary drive wheel is disposed on the second hinge point, the main drive wheel is connected to the third hinge point, and the first hinge point is disposed between the third hinge point and the second hinge point;

[0019] The drive assembly drives the first crank to move, and the first crank to move the rocker arm, thereby causing the first hinge point and / or the second hinge point to move in the vertical and / or horizontal directions, thereby causing the chassis frame and the auxiliary wheel to rise or fall.

[0020] In some embodiments of this disclosure, the cleaning robot further includes a drive assembly, the drive assembly includes a drive member, the drive member has a first limiting groove, and the first crank has a protrusion that is inserted into the first limiting groove.

[0021] The drive unit is hinged to the chassis frame, and the drive unit is configured to rotatably drive the protrusion to move, thereby driving the first crank to rotate.

[0022] In some embodiments of this disclosure, the hinge point between the chassis frame and the rocker arm and the hinge point between the chassis frame and the drive member are the same hinge point;

[0023] And / or, the first limiting groove extends along a first direction, and the length of the first limiting groove along the first direction is greater than the length of the protrusion along the first direction; the first direction is the rotation direction of the driving member.

[0024] In some embodiments of this disclosure, the cleaning robot further includes a first housing, the drive unit is disposed in the first housing, a second limiting groove is provided on the wall of the first housing, the second limiting groove at least partially overlaps with the first limiting groove, and the protrusion is inserted into the second limiting groove and the first limiting groove.

[0025] In some embodiments of this disclosure, the cleaning robot has a first state in which the first limiting groove and the second limiting groove completely overlap.

[0026] And / or, the cleaning robot has a second state in which the first limiting groove and the second limiting groove partially overlap, and the protrusion is sandwiched between the groove wall of the first limiting groove and the groove wall of the second limiting groove.

[0027] In some embodiments of this disclosure, the length of the first limiting groove in the first direction is less than the length of the second limiting groove in the first direction.

[0028] In some embodiments of this disclosure, the drive assembly further includes a drive motor, a worm gear, and a first gear set; the drive motor is connected to the worm gear and is used to drive the worm gear to rotate; the worm gear meshes with one side of the first gear set; the drive member is provided with a sector tooth structure, and the other side of the first gear set meshes with the sector tooth structure to drive the drive member to rotate.

[0029] In some embodiments of this disclosure, a first rotating shaft is provided at the third hinge point of the rocker arm, the main drive wheel is disposed on the first rotating shaft, a second rotating shaft is provided at the second hinge point of the rocker arm, and the auxiliary drive wheel is disposed on the second rotating shaft.

[0030] In some embodiments of this disclosure, a first drive gear is sleeved on the first rotating shaft, and a second drive gear is sleeved on the second rotating shaft; the cleaning robot further includes at least one transmission gear, which meshes with the first drive gear and the second drive gear to allow the main drive wheel to drive the auxiliary drive wheel to rotate.

[0031] In some embodiments of this disclosure, the cleaning robot further includes a second housing, in which the first drive gear, the second drive gear, and the at least one transmission gear are all disposed; the second housing has a shell, and a first limiting portion is provided on the outer wall of the shell, the first limiting portion being used to abut against the chassis frame to form a block in the rotation direction of the first crank.

[0032] In some embodiments of this disclosure, the housing of the second enclosure is reused with the rocker arm.

[0033] In some embodiments of this disclosure, a second limiting part is provided on the chassis frame. The second limiting part is located on the side of the first crank away from the first limiting part, so as to jointly limit the rotation stroke of the first crank with the first limiting part.

[0034] In some embodiments of this disclosure, at least one of the rocker arm, the first crank, and the second crank has a curved structure. Attached Figure Description

[0035] Figure 1 is a schematic diagram of the structure of a cleaning robot provided in an embodiment of this disclosure;

[0036] Figure 2 is another structural schematic diagram of a cleaning robot provided in an embodiment of the present disclosure;

[0037] Figure 3 is another structural schematic diagram of a cleaning robot provided in an embodiment of this disclosure;

[0038] Figure 4 is a structural schematic diagram of a cleaning robot provided in another embodiment of this disclosure;

[0039] Figure 5 is a partial enlarged structural diagram of A in Figure 4 provided in an embodiment of this disclosure;

[0040] Figure 6 is a structural schematic diagram of a cleaning robot provided in yet another embodiment of this disclosure;

[0041] Figure 7 is a structural schematic diagram of a cleaning robot provided in another embodiment of the present disclosure;

[0042] Figure 8 is a structural schematic diagram of a cleaning robot provided in yet another embodiment of this disclosure;

[0043] Figure 9 is a structural schematic diagram of a cleaning robot provided in yet another embodiment of this disclosure;

[0044] Figure 10 is a structural schematic diagram of a cleaning robot provided in another embodiment of the present disclosure;

[0045] Figure 11 is a structural schematic diagram of a cleaning robot provided in yet another embodiment of the present disclosure;

[0046] Figure 12 is a schematic diagram of the working state of a cleaning robot provided in an embodiment of the present disclosure;

[0047] Figure 13 is a schematic diagram of another working state of the cleaning robot provided in an embodiment of the present disclosure;

[0048] Figure 14 is a schematic diagram of another working state of the cleaning robot provided in an embodiment of the present disclosure;

[0049] Figure 15 is a schematic diagram of another working state of the cleaning robot provided in an embodiment of the present disclosure;

[0050] Figure 16 is a schematic diagram of another working state of a cleaning robot provided in an embodiment of the present disclosure;

[0051] Figure 17 is a schematic diagram of another working state of the cleaning robot provided in an embodiment of the present disclosure;

[0052] Figure 18 is a schematic diagram of another working state of the cleaning robot provided in an embodiment of the present disclosure.

[0053] Specific element symbol explanations: 100-chassis frame, 110-first crank, 111-first hinge point, 112-protrusion, 120-second crank, 121-second hinge point, 130-second limiting part, 200-rocker arm, 210-first drive gear, 220-second drive gear, 230-transmission gear, 240-third hinge point, 300-main drive wheel, 400-auxiliary drive wheel, 500-drive assembly, 510-drive component, 511-first limiting groove, 520-first gear set, 530-worm gear, 540-drive motor, 600-first housing, 610-second limiting groove, 700-second housing, 710-first limiting part, 800-front wheel, 1000-cleaning robot, 2000-step, a-first direction. Detailed Implementation

[0054] To make the technical problems, technical solutions, and beneficial effects to be solved by this disclosure clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this disclosure and are not intended to limit it.

[0055] It should be noted that when a component is referred to as being "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, "a plurality of" means two or more, unless otherwise expressly specified.

[0057] It's important to understand that in the field of mobile robot technology, the chassis design of a cleaning robot is crucial to its mobility, stability, and adaptability. Especially in complex terrain or obstacle-crossing scenarios, the chassis design directly impacts the robot's work efficiency and application range.

[0058] In related technologies, most cleaning robots adopt a fixed drive wheel design. This design significantly limits the robot's ability to traverse obstacles or irregular terrain. Specifically, the drive wheels typically use a circular wheel structure. While circular wheels offer high driving efficiency and simpler algorithm control, they struggle to traverse steps exceeding their radius. In the field of cleaning robots, when encountering thresholds, carpet edges, or small obstacles on the ground, cleaning robots with fixed drive wheels often find it difficult to effectively overcome them, thus limiting their working range and cleaning efficiency.

[0059] Based on this, the present disclosure improves the cleaning robot.

[0060] Please refer to Figure 1, which shows a schematic diagram of the structure of the cleaning robot provided in this embodiment. The cleaning robot 1000 of this embodiment includes a chassis frame 100, at least one main drive wheel 300, at least one auxiliary drive wheel 400, and a drive assembly 500. In the forward direction, at least one auxiliary drive wheel 400 is located in front of at least one first main drive wheel 300. At least one main drive wheel 300 and at least one auxiliary drive wheel 400 are connected to the chassis frame 100 through a lifting assembly. The drive assembly 500 is disposed on the chassis frame 100 and is used to drive the lifting assembly. The movement of the lifting assembly drives the chassis frame 100 and / or at least one auxiliary drive wheel 400 from the retracted state to the raised state, and from the raised state back to the retracted state; the drive assembly 500 controls the chassis frame 100 and the auxiliary drive wheel 400 to move from the retracted state to the raised state until the auxiliary drive wheel 400 contacts the raised working plane; the drive assembly 500 controls at least one main drive wheel 300 to move to the raised working plane during the movement of the chassis frame 100 and the auxiliary drive wheel 400 from the raised state to the retracted state.

[0061] It should be explained that the wheels of the cleaning robot 1000 are typically located at the bottom of the entire device and are used to support the weight of the entire device. The chassis frame 100 is the basic support structure of the entire cleaning robot 1000, mainly used to fix and connect other components in the cleaning robot 1000. There can be one or two main drive wheels 300, and the two main drive wheels 300 can be the left and right wheels of the cleaning robot 1000. Furthermore, both main drive wheels 300 can be the front wheels 800 or the rear wheels of the cleaning robot 1000. Drive wheels are wheels that can receive and convert power to propel the device. Both the main drive wheels 300 and the auxiliary drive wheels 400 have driving capabilities to move the cleaning robot 1000.

[0062] It is understood that the drive assembly 500 drives the lifting assembly to raise or retract the chassis frame 100 and the auxiliary drive wheel 400. Please refer to Figure 2, which shows another structural schematic diagram of the cleaning robot 1000 provided in this embodiment. In Figure 2, the auxiliary drive wheel 400 is in a raised state, that is, the main drive wheel 300 is lowered by the lifting assembly. Since the main drive wheel 300 is still in contact with the ground, the chassis frame 100 and the auxiliary drive wheel 400 can be raised in the opposite direction. For obstacles (such as steps) whose height is lower than the ground clearance of the auxiliary drive wheel 400, the auxiliary drive wheel 400 can directly jump to the working plane at the top of the obstacle. After the auxiliary drive wheel 400 jumps to the working plane at the top of the obstacle, the cleaning robot 1000 can be driven to move and cross the obstacle by rotating the auxiliary drive wheel 400.

[0063] Please refer to Figure 3, which shows another structural schematic diagram of the cleaning robot provided in this embodiment. In Figure 3, the auxiliary drive wheel 400 is in a retracted state, that is, the main drive wheel 300 is retracted by the lifting assembly. Since the main drive wheel 300 is still in contact with the ground, the chassis frame 100 and the auxiliary drive wheel 400 can be lowered in the opposite direction. At this time, since the auxiliary drive wheel 400 has risen to the working plane at the top of the obstacle, the auxiliary drive wheel 400 is in contact with the working plane at the top of the obstacle. At this time, under the synergistic effect of the main drive wheel 300 and the auxiliary drive wheel 400, the main drive wheel 300 is also raised to the working plane at the top of the obstacle.

[0064] Current cleaning robots typically use fixed circular wheel structures for their drive wheels, limiting their obstacle-crossing ability to the radius of these wheels. However, this disclosure addresses this issue by adjusting the lifting and retraction of the auxiliary drive wheel 400. The drive assembly 500 controls the chassis frame 100 and the auxiliary drive wheel 400 to move from a retracted state to a lifted state until the auxiliary drive wheel 400 contacts the raised working plane. This elevation of the auxiliary drive wheel 400 enhances its obstacle-crossing ability. Furthermore, during the movement of the chassis frame 100 and the auxiliary drive wheel 400 from the lifted state to the retracted state, the drive assembly 500 controls at least one main drive wheel 300 to move to the raised working plane. At this point, the auxiliary drive wheel 400 and the main drive wheel 300 can work together to propel the cleaning robot 1000, enabling the main drive wheel 300 to overcome obstacles. This improves the overall obstacle-crossing ability of the cleaning robot 1000, thereby enhancing its performance and usability.

[0065] In some embodiments, the radius of the main drive wheel 300 is larger than the radius of the auxiliary drive wheel 400.

[0066] In some embodiments, the main drive wheel 300 and the auxiliary drive wheel 400 are driven by different drive components 500. In other embodiments, the main drive wheel 300 and the auxiliary drive wheel 400 are driven by the same drive component 500.

[0067] In some other embodiments, one of the main drive wheel 300 and the auxiliary drive wheel 400 is driven by the drive assembly 500, and once the main drive wheel 300 and the auxiliary drive wheel 400 are driven, they drive the other one. This helps to reduce the number of drive assemblies 500 and saves space in the overall device. For example, the main drive wheel 300 is driven by the drive assembly 500, and the auxiliary drive wheel 400 is driven by the main drive wheel 300.

[0068] In some embodiments of this disclosure, the number of main drive wheels 300 is at least two, the number of auxiliary drive wheels 400 is at least two, and the auxiliary drive wheels 400 are arranged in a one-to-one correspondence with the main drive wheels 300.

[0069] In some embodiments of this disclosure, the cleaning robot 1000 further includes at least one driven wheel connected to the chassis frame 100, and the driven wheel is positioned in front of at least two main drive wheels 300 in the forward direction.

[0070] It is understandable that there can be one driven wheel, and the line connecting the driven wheel and the two main drive wheels 300 forms a triangular structure.

[0071] In some embodiments, the driven wheel is a swivel wheel.

[0072] In some embodiments of this disclosure, please continue to refer to Figures 1 to 3. The lifting assembly of this embodiment includes at least a rocker arm 200. The rocker arm 200 is rotatably mounted on the chassis frame 100. The main drive wheel 300 is mounted on the rocker arm 200. Under the drive of the drive assembly 500, the rocker arm 200 drives the chassis frame 100 and the auxiliary drive wheel 400 to rise and fall relative to the main drive wheel 300.

[0073] In some embodiments, the joystick 200 can be configured as an L-shaped structure, with the main drive wheel 300 located at one end of the joystick 200.

[0074] In some embodiments of this disclosure, please continue to refer to Figures 1 and 2. The lifting assembly of this embodiment further includes a first crank 110 and a second crank 120. The rocker arm 200 includes a first hinge point 111, a second hinge point 121, and a third hinge point 240. One end of the first crank 110 is connected to the drive assembly 500, and the other end of the first crank 110 is hinged to the first hinge point 111 of the rocker arm 200. One end of the second crank 120 is hinged to the chassis frame 100, and the other end of the second crank 120 is hinged to the second hinge point 240 of the rocker arm 200. 121 is hinged; the auxiliary drive wheel 400 is disposed on the second hinge point 121, the main drive wheel 300 is connected to the third hinge point 240, and the first hinge point 111 is disposed between the third hinge point 240 and the second hinge point 121; the drive assembly 500 drives the first crank 110 to move, and the movement of the first crank 110 drives the rocker arm 200 to move, thereby causing the first hinge point 111 and / or the second hinge point 121 to move in the vertical and / or horizontal directions, thereby driving the chassis frame 100 and the auxiliary drive wheel 400 to rise or fall.

[0075] Understandably, the first crank 110 can rotate along its hinge point on the chassis frame 100. Since the first crank 110 can rotate freely within a certain range, it drives the rocker arm 200 and its drive wheel to adjust its height and posture. Furthermore, by providing a second crank 120, which rotates accordingly during the rotation of the rocker arm 200, the rotation of the second crank 120 can, to a certain extent, counteract the displacement of the crank in the direction of movement of the cleaning robot 1000, thereby reducing the displacement of the main drive wheel 300 in the direction of movement of the cleaning robot 1000 during lifting and lowering.

[0076] In this disclosure, the first hinge point 111 is set between the third hinge point 240 and the second hinge point 121, which helps to ensure that the position of the auxiliary drive wheel 400 is used as the rotation support point during the rotation of the first crank 110 around the first hinge point 111, thereby improving the stability of the main drive wheel 300.

[0077] In some embodiments of this disclosure, please refer to FIG4, which shows a structural schematic diagram of the cleaning robot 1000 provided in this embodiment. FIG4 takes the auxiliary drive wheel 400 in a raised state as an example. The cleaning robot 1000 in this embodiment also includes a drive assembly 500. The drive assembly 500 includes a drive member 510. The drive member 510 is provided with a first limiting groove 511. The first crank 110 is provided with a protrusion 112, which is inserted into the first limiting groove 511. The drive member 510 is hinged to the chassis frame 100. The drive member 510 is configured to rotate and drive the protrusion 112 to move, thereby driving the first crank 110 to rotate.

[0078] It is understandable that the movement trajectory of the protrusion 112 within the first limiting groove 511 can be controlled by rotating the drive component 510. This control method enables the first crank 110 and the rocker arm 200 to rotate at a predetermined angle and speed, thereby achieving precise adjustment of the height and attitude of the drive wheel.

[0079] In some embodiments of this disclosure, please continue to refer to FIG4. In this embodiment, the first limiting groove 511 extends along the first direction a, and the length of the first limiting groove 511 along the first direction a is greater than the length of the protrusion 112 along the first direction a; the first direction a is the rotation direction of the driving member 510.

[0080] Understandably, the protrusion 112 can move along the first direction a within the first limiting groove 511, allowing the main drive wheel 300 to have a certain range of motion in its free state. Furthermore, the tight fit between the first limiting groove 511 and the protrusion 112 helps enhance the stability of the cleaning robot 1000. When the drive member 510 rotates, the movement of the protrusion 112 within the first limiting groove 511 maintains a relatively stable posture, thus ensuring that the cleaning robot 1000 does not lose balance due to the swaying of the rocker arm 200 during movement. Specifically, the shape and length of the first limiting groove 511 can further precisely control the range and speed of movement of the protrusion 112, thereby achieving more refined adjustments to the rocker arm 200 and the drive wheel.

[0081] In some embodiments of this disclosure, please refer to FIG5. FIG5 shows a partial enlarged structural schematic diagram of FIG4 provided in this embodiment. The cleaning robot 1000 of this embodiment also includes a first housing 600, a drive member 510 disposed in the first housing 600, a second limiting groove 610 disposed on the wall of the first housing 600, the second limiting groove 610 at least partially overlaps with the first limiting groove 511, and a protrusion 112 is inserted into the second limiting groove 610 and the first limiting groove 511.

[0082] Understandably, the first housing 600 serves to house and protect the drive component 510, and also provides a robust structural support for the drive component 510, which helps maintain the stability of the drive component 510 during rotation. The protrusion 112, inserted into the second limiting groove 610 and the first limiting groove 511, further enhances the structural stability between the first housing 600 and the drive component 510.

[0083] In some embodiments of this disclosure, please refer to FIG6, which shows a structural schematic diagram of the cleaning robot 1000 provided in this embodiment. The chassis frame 100 and at least one auxiliary drive wheel 400 in this embodiment also include a free state between a raised state and a retracted state. The chassis frame 100 and the auxiliary drive wheel 400 are used to return to the free state after the main drive wheel 300 jumps to the working plane; and in the free state, the auxiliary drive wheel 400 is suspended.

[0084] Understandably, when in a free state, the auxiliary drive wheel 400 is suspended in the air, which not only helps reduce the resistance of the cleaning robot 1000, but also helps protect the auxiliary drive wheel 400.

[0085] In some embodiments of this disclosure, please continue to refer to FIG6. The cleaning robot 1000 of this embodiment has a first state in which the first limiting groove 511 and the second limiting groove 610 completely overlap.

[0086] It should be explained that complete overlap can be understood as the first limiting groove 511 and the second limiting groove 610 having the same length, and the first limiting groove 511 and the second limiting groove 610 coinciding. It can also be understood as the length of the first limiting groove 511 being less than the length of the second limiting groove 610, and the projection of the first limiting groove 511 on the first housing 600 falling completely within the second limiting groove 610.

[0087] Understandably, in the first state, the chassis frame 100 and the auxiliary drive wheel 400 are in a free state, that is, the cleaning robot 1000 is in a free driving state on flat ground, and the auxiliary drive wheel 400 is suspended in the air; the protrusion 112 has a certain range of motion in the first limiting groove 511 and the second limiting groove 610, and the main drive wheel 300 can also be lowered or raised to a certain height to adapt to some small obstacle terrain.

[0088] In some embodiments, please continue to refer to FIG4 and FIG7. FIG7 shows a structural schematic diagram of the cleaning robot 1000 provided in this embodiment. The cleaning robot 1000 of this embodiment has a second state. In the second state, the first limiting groove 511 and the second limiting groove 610 partially overlap, and the protrusion 112 is sandwiched between the groove wall of the first limiting groove 511 and the groove wall of the second limiting groove 610.

[0089] Understandably, in Figure 4, the right end of the first limiting groove 511 overlaps with the left end of the second limiting groove 610. At this time, the protrusion 112 is clamped and fixed by the right side wall of the first limiting groove 511 and the left side wall of the second limiting groove 610. The auxiliary drive wheel 400 is in its highest lifting position, and the cleaning robot 1000 is also raised to its maximum height. In Figure 7, the left end of the first limiting groove 511 overlaps with the right end of the second limiting groove 610. At this time, the protrusion 112 is clamped and fixed by the left side wall of the first limiting groove 511 and the right side wall of the second limiting groove 610. The auxiliary drive wheel 400 is in its lowest retracted position, and the cleaning robot 1000 is also lowered to its lowest height.

[0090] In other words, the second state of the cleaning robot 1000 corresponds to the raised state and the retracted state of the chassis frame 100 and the auxiliary drive wheel 400. It switches to the raised state when the auxiliary drive wheel 400 needs to climb the obstacle, and switches to the retracted state after the auxiliary drive wheel 400 has climbed the obstacle.

[0091] In some embodiments of this disclosure, the length of the first limiting groove 511 in the first direction a is less than the length of the second limiting groove 610 in the first direction a.

[0092] It is understandable that the length of the first limiting groove 511 in the first direction a determines the lifting height of the main drive wheel 300 in the free state, and the length of the second limiting groove 610 in the first direction a determines the lifting height of the main drive wheel 300 in the lifted state.

[0093] In some embodiments, the lifting height of the main drive wheel 300 in the free state is 0-30mm, and the lifting height of the main drive wheel 300 in the lifted state is 0-50mm.

[0094] In some embodiments of this disclosure, please refer to FIG8, which shows a structural schematic diagram of the cleaning robot 1000 provided in this embodiment. The drive assembly 500 of this embodiment further includes a drive motor 540, a worm gear 530, and a first gear set 520. The drive motor 540 is connected to the worm gear 530 and is used to drive the worm gear 530 to rotate. The worm gear 530 meshes with one side of the first gear set 520. The drive member 510 is provided with a sector tooth structure, and the other side of the first gear set 520 meshes with the sector tooth structure to drive the drive member 510 to rotate.

[0095] It should be explained that the drive motor 540 is the power source for the entire drive assembly 500, responsible for providing rotational power. It converts electrical energy into mechanical energy through a connection with the worm gear 530, thereby driving the worm gear 530 to rotate. The worm gear 530 is a cylinder with helical teeth, which meshes with one side of the first gear set 520. When the drive motor 540 drives the worm gear 530 to rotate, the helical teeth of the worm gear 530 drive the first gear set 520 to rotate. The first gear set 520 consists of multiple meshing gears, which serve to reduce speed and transmit power. One side of the first gear set 520 meshes with the worm gear 530, and the other side meshes with a sector gear structure, thus realizing power transmission and speed regulation. The sector gear structure is a special tooth profile structure set on the drive component 510. It meshes with the other side of the first gear set 520. When the first gear set 520 is driven to rotate by the worm gear 530, the sector gear structure rotates accordingly, thereby driving the drive component 510 to rotate.

[0096] Understandably, when the drive motor 540 starts, it drives the worm gear 530 to rotate. The rotation of the worm gear 530 drives the first gear set 520 to rotate, which in turn transmits power to the sector gear structure through meshing. The sector gear structure rotates under the drive of the first gear set 520, ultimately driving the drive component 510 to rotate.

[0097] In some embodiments of this disclosure, a first rotating shaft is provided at the third hinge point 240 of the rocker arm 200, the main drive wheel 300 is provided on the first rotating shaft, a second rotating shaft is provided at the second hinge point 121 of the rocker arm 200, and an auxiliary drive wheel 400 is provided on the second rotating shaft.

[0098] It is understandable that placing the main drive wheel 300 and the auxiliary drive wheel 400 at the third hinge point 240 and the second hinge point 121 at both ends of the rocker arm 200 is beneficial to increasing the distance between the main drive wheel 300 and the auxiliary drive wheel 400 within a limited space, which in turn is beneficial to increasing the lifting distance of the main drive wheel 300.

[0099] In some embodiments of this disclosure, please refer to FIG9, which shows a structural schematic diagram of the cleaning robot 1000 provided in this embodiment. A first drive gear 210 is sleeved on the first rotating shaft and a second drive gear 220 is sleeved on the second rotating shaft. The cleaning robot 1000 also includes at least one transmission gear 230, which meshes with the first drive gear 210 and the second drive gear 220 to drive the auxiliary drive wheel 400 to rotate via the main drive wheel 300.

[0100] It is understood that the first drive gear 210 rotates coaxially with the main drive wheel 300, and the second drive gear 220 rotates coaxially with the auxiliary drive wheel 400. Therefore, when the main drive wheel 300 is driven by the drive assembly 500, the first drive gear 210 also rotates, thereby driving at least one transmission gear 230 to rotate, then driving the second drive gear 220 to rotate, and finally driving the auxiliary drive wheel 400 to rotate.

[0101] In some embodiments of this disclosure, please refer to FIG10, which shows a structural schematic diagram of the cleaning robot 1000 provided in this embodiment. The cleaning robot 1000 in this embodiment also includes a second housing 700. The first drive gear 210, the second drive gear 220 and at least one transmission gear 230 are all disposed in the second housing 700. The second housing 700 has a shell, and a first limiting part 710 is provided on the outer wall of the shell. The first limiting part 710 is used to abut against the chassis frame 100 to form a block in the rotation direction of the first crank 110.

[0102] It is understandable that by setting the first limiting part 710, it is beneficial to limit the maximum retracted height of the main drive wheel 300. When the maximum retracted height is reached, the first limiting part 710 and the chassis frame 100 abut against each other, which can reduce the impact on the internal gears when the equipment collides, thereby helping to protect the gear transmission structure.

[0103] In some embodiments, the housing of the second housing 700 is reused with the rocker arm 200.

[0104] In some embodiments of this disclosure, please refer to FIG11, which shows a structural schematic diagram of the cleaning robot 1000 provided in this embodiment. The chassis frame 100 of this embodiment is provided with a second limiting part 130. The second limiting part 130 is disposed on the side of the first crank 110 away from the first limiting part 710, so as to jointly limit the rotation stroke of the first crank 110 with the first limiting part 710.

[0105] It is understandable that by setting the second limiting part 130, it is beneficial to limit the maximum lifting (falling) height of the main drive wheel 300. When the maximum lifting height is reached, the second limiting part 130 and the first crank 110 abut against each other, which can reduce the impact on the internal gears when the equipment collides, thereby helping to protect the gear transmission structure.

[0106] In some embodiments of this disclosure, please continue to refer to Figures 1 and 2. In this embodiment, at least one of the rocker arm 200, the first crank 110, and the second crank 120 has a curved structure. This helps to ensure the mechanical strength of the structure of at least one of the rocker arm 200, the first crank 110, and the second crank 120 during rotation.

[0107] In some embodiments, the cleaning robot 1000 is a sweeping robot.

[0108] In this embodiment, a sweeping robot is used as an example. Please refer to Figure 12. Figure 12 shows a schematic diagram of the working state of the cleaning robot 1000 provided in this embodiment. In Figure 12, there is a step 2000 in front of the cleaning robot 1000, and the height of the step 2000 is higher than the radius of its main drive wheel 300.

[0109] Please refer to Figure 13, which shows another working state schematic diagram of the cleaning robot 1000 provided in this embodiment; in Figure 13, the front wheels 800 are lowered to raise the front end of the cleaning robot 1000, so that the front end of the cleaning robot 1000 can climb above the step 2000. In some embodiments, the front wheels 800 can be omnidirectional wheels.

[0110] Please refer to Figure 14, which shows another working state diagram of the cleaning robot 1000 provided in this embodiment; in Figure 14, the front wheel 800 climbs above the step 2000, and the cleaning robot 1000 continues to move forward under the push of the main drive wheel 300.

[0111] Please refer to Figure 15, which shows another working state of the cleaning robot 1000 provided in this embodiment; in Figure 15, the main drive wheel 300 is in a raised state so that the auxiliary drive wheel 400 can climb onto the step 2000.

[0112] Please refer to Figure 16, which shows another working state of the cleaning robot 1000 provided in this embodiment. In Figure 16, driven by the main drive wheel 300 and the auxiliary drive wheel 400, the robot moves until the main drive wheel 300 abuts against the step 2000. Since the step 2000 is high, the main drive wheel 300 cannot climb if the height of the main drive wheel 300 is not changed.

[0113] Please refer to Figure 17, which shows another working state of the cleaning robot 1000 provided in this embodiment. In Figure 17, the main drive wheel 300 is switched to the retracted state. At this time, the main drive wheel 300 is closer to the upper surface of the step 2000, so it is easier to climb onto the step 2000.

[0114] Please refer to Figure 18, which shows another working state of the cleaning robot 1000 provided in this embodiment. In Figure 18, under the combined action of the main drive wheel 300 and the auxiliary drive wheel 400, the main drive wheel 300 climbs to the lifting position, thus realizing the complete climbing of the entire device.

[0115] In some embodiments, the joystick 200 is configured as an L-shaped structure, and as the joystick 200 rotates, the distance between the main drive wheel 300 and the auxiliary drive wheel 400 in the direction of movement of the cleaning robot 1000 also changes.

[0116] The beneficial effects of this disclosure are as follows: The cleaning robot of this disclosure includes a chassis frame, at least one main drive wheel, at least one auxiliary drive wheel, and a drive assembly; in the forward direction, at least one auxiliary drive wheel is located in front of at least one first main drive wheel; at least one main drive wheel and at least one auxiliary drive wheel are connected to the chassis frame via a lifting assembly; the drive assembly is mounted on the chassis frame and is used to drive the lifting assembly to move, thereby causing the chassis frame and / or at least one auxiliary drive wheel to move from a retracted state to a raised state, and from a raised state to a retracted state; in this disclosure, the drive assembly... The component controls the chassis frame and auxiliary drive wheels to move from the retracted state to the raised state until the auxiliary drive wheels contact the raised working plane. By raising the auxiliary drive wheels, the obstacle-crossing ability of the auxiliary drive wheels is improved. Furthermore, during the movement of the chassis frame and auxiliary drive wheels from the raised state to the retracted state, the drive component controls at least one main drive wheel to move to the raised working plane. At this time, the auxiliary drive wheel and the main drive wheel can work together to drive the cleaning robot to move, completing the obstacle crossing of the main drive wheel. This is beneficial to improving the overall obstacle-crossing ability of the cleaning robot, and thus improving the performance of the cleaning robot and its usability.

[0117] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0118] The basic concepts have been described above. It is obvious that the detailed disclosure above is merely illustrative and does not constitute a limitation of this disclosure. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this disclosure by those skilled in the art. Such modifications, improvements, and corrections are suggested in this disclosure and therefore remain within the spirit and scope of the exemplary embodiments of this disclosure.

[0119] Furthermore, this disclosure uses specific terms to describe embodiments of the present disclosure. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the present disclosure. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of the present disclosure can be appropriately combined.

[0120] Similarly, it should be noted that, in order to simplify the description of this disclosure and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of embodiments of this disclosure may sometimes combine multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of this disclosure requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of a single embodiment disclosed above.

Claims

1. A cleaning robot, characterized in that, The cleaning robot includes: Chassis frame; At least one primary drive wheel and at least one secondary drive wheel; in the forward direction, the at least one secondary drive wheel is located in front of the at least one primary drive wheel; The at least one main drive wheel and the at least one auxiliary drive wheel are connected to the chassis frame via a lifting assembly; A drive assembly, mounted on the chassis frame, is used to drive the lifting assembly to move, thereby causing the chassis frame and / or the at least one auxiliary drive wheel to move from the retracted state to the raised state, and from the raised state to the retracted state through the movement of the lifting assembly. The drive assembly is used to control the chassis frame and the auxiliary drive wheel to move from the retracted state to the raised state until the auxiliary drive wheel contacts the raised working plane; and to control the at least one main drive wheel to move to the raised working plane during the movement of the chassis frame and the auxiliary drive wheel from the raised state to the retracted state.

2. The cleaning robot according to claim 1, characterized in that, The chassis frame and the at least one auxiliary drive wheel also include a free state between the raised state and the retracted state, wherein the chassis frame and the auxiliary drive wheel are used to return to the free state after the main drive wheel rises to the working plane; and in the free state the auxiliary drive wheel is suspended.

3. The cleaning robot according to claim 1 or 2, characterized in that, The radius of the main drive wheel is larger than the radius of the auxiliary drive wheel.

4. The cleaning robot according to any one of claims 1 to 3, characterized in that, The number of main drive wheels is at least two, the number of auxiliary drive wheels is at least two, and the auxiliary drive wheels are arranged in a one-to-one correspondence with the main drive wheels.

5. The cleaning robot according to any one of claims 1 to 4, characterized in that, The cleaning robot also includes at least one driven wheel, which is connected to the chassis frame and is positioned in front of the at least two main drive wheels in the forward direction.

6. The cleaning robot according to any one of claims 1 to 5, characterized in that, The lifting assembly includes at least a rocker arm, which is rotatably mounted on the chassis frame. The main drive wheel is mounted on the rocker arm, and the rocker arm, driven by the drive assembly, causes the chassis frame and the auxiliary drive wheel to rise and fall relative to the main drive wheel.

7. The cleaning robot according to claim 6, characterized in that, The lifting assembly further includes a first crank and a second crank. The rocker arm includes a first hinge point, a second hinge point, and a third hinge point. One end of the first crank is connected to the drive assembly, and the other end of the first crank is hinged to the first hinge point of the rocker arm. One end of the second crank is hinged to the chassis frame, and the other end of the second crank is hinged to the second hinge point of the rocker arm. The auxiliary drive wheel is disposed on the second hinge point, and the main drive wheel is connected to the third hinge point. The first hinge point is disposed between the third hinge point and the second hinge point. The drive assembly drives the first crank to move, and the first crank to move the rocker arm, thereby causing the first hinge point and / or the second hinge point to move in the vertical and / or horizontal directions, thereby causing the chassis frame and the auxiliary wheel to rise or fall.

8. The cleaning robot according to claim 7, characterized in that, The drive assembly includes a drive member, on which a first limiting groove is provided, and on the first crank a protrusion is provided, the protrusion being inserted into the first limiting groove. The drive unit is hinged to the chassis frame and is configured to rotate, thereby driving the protrusion to move and drive the first crank to rotate.

9. The cleaning robot according to claim 8, characterized in that, The first limiting groove extends along a first direction, and the length of the first limiting groove along the first direction is greater than the length of the protrusion along the first direction; the first direction is the rotation direction of the driving member.

10. The cleaning robot according to claim 9, characterized in that, The cleaning robot also includes a first housing, the drive unit is disposed in the first housing, a second limiting groove is provided on the wall of the first housing, the second limiting groove at least partially overlaps with the first limiting groove, and the protrusion is inserted into the second limiting groove and the first limiting groove.

11. The cleaning robot according to claim 10, characterized in that, The cleaning robot has a first state in which the first limiting groove and the second limiting groove completely overlap. And / or, the cleaning robot has a second state in which the first limiting groove and the second limiting groove partially overlap, and the protrusion is sandwiched between the groove wall of the first limiting groove and the groove wall of the second limiting groove.

12. The cleaning robot according to claim 11, characterized in that, The length of the first limiting groove in the first direction is less than the length of the second limiting groove in the first direction.

13. The cleaning robot according to any one of claims 8 to 12, characterized in that, The drive assembly further includes a drive motor, a worm gear, and a first gear set; the drive motor is connected to the worm gear and is used to drive the worm gear to rotate; the worm gear meshes with one side of the first gear set; the drive member is provided with a sector tooth structure, and the other side of the first gear set meshes with the sector tooth structure to drive the drive member to rotate.

14. The cleaning robot according to any one of claims 7 to 13, characterized in that, A first rotating shaft is provided at the third hinge point of the rocker arm, and the main drive wheel is provided on the first rotating shaft. A second rotating shaft is provided at the second hinge point of the rocker arm, and the auxiliary drive wheel is provided on the second rotating shaft.

15. The cleaning robot according to claim 14, characterized in that, A first drive gear is mounted on the first rotating shaft, and a second drive gear is mounted on the second rotating shaft; the cleaning robot also includes at least one transmission gear, which meshes with the first drive gear and the second drive gear to allow the main drive wheel to drive the auxiliary drive wheel to rotate.

16. The cleaning robot according to claim 15, characterized in that, The cleaning robot also includes a second housing, in which the first drive gear, the second drive gear, and the at least one transmission gear are all disposed. The second housing has a shell, and a first limiting part is provided on the outer wall of the shell. The first limiting part is used to abut against the chassis frame to form a block in the rotation direction of the first crank.

17. The cleaning robot according to claim 16, characterized in that, The housing of the second box is reused with the rocker arm.

18. The cleaning robot according to claim 16 or 17, characterized in that, The chassis frame is provided with a second limiting part, which is located on the side of the first crank away from the first limiting part, so as to limit the rotation stroke of the first crank together with the first limiting part.

19. The cleaning robot according to any one of claims 7 to 18, characterized in that, At least one of the rocker arm, the first crank, and the second crank has a curved structure.

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