Carrying device, cleaning apparatus, and cleaning system

Abstract

The present disclosure relates to the technical field of smart homes, and provides a carrying device, a cleaning apparatus, and a cleaning system. The carrying device comprises a moving assembly, a connecting assembly, and a driving mechanism; the connecting assembly is connected to the moving assembly, the connecting assembly comprises at least two connecting members, and the connecting members are configured to drive the moving assembly to move; and the driving mechanism comprises a synchronous transmission assembly and at least two transmission shafts, each transmission shaft is connected to at least one connecting member, and the synchronous transmission assembly is connected to the at least two transmission shafts, so that the at least two connecting members move synchronously. The carrying device can ensure the synchronization of the movement of the moving assembly, thereby preventing jamming and unsmooth movement caused by the fact that the two connecting members cannot move synchronously.

Description

Loading equipment and cleaning devices, cleaning systems

[0001] Cross-reference of related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202510240066.6, filed on February 28, 2025, and Chinese Patent Application No. 202520352465.7, filed on February 28, 2025, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0003] This disclosure relates to the field of smart home technology, and more specifically, to a carrier device and cleaning apparatus, and a cleaning system. Background Technology

[0004] With the increasing popularity of smart homes, robotic vacuum cleaners have become an important tool for household cleaning. However, traditional robotic vacuum cleaners are limited by their mobility, making it difficult to handle stair cleaning in multi-story environments such as duplexes and villas. Furthermore, everyday scenarios such as moving heavy objects and overcoming obstacles place higher demands on the mobility of automated equipment. However, the current synchronization of the connecting parts of the supporting equipment is poor, leading to issues such as jamming and uneven movement.

[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 carrier device and a cleaning apparatus and cleaning system.

[0007] According to one aspect of this disclosure, a carrier device is provided, comprising:

[0008] Mobile components;

[0009] A connecting component, connected to the movable component, the connecting component including at least two connectors, the connectors being configured to drive the movable component to move;

[0010] A drive mechanism includes a synchronous transmission assembly and at least two drive shafts, the drive shafts being connected to at least one of the connecting members, and the synchronous transmission assembly being connected to at least two of the drive shafts to enable at least two of the connecting members to move synchronously.

[0011] In one exemplary embodiment of this disclosure, the synchronous transmission assembly includes:

[0012] A driver, having a drive shaft;

[0013] A gearbox, comprising a driving gear and at least two driven gears, wherein the driving gear is connected to the drive shaft, the at least two driven gears mesh with the driving gear, and the transmission shaft is connected to the driven gears.

[0014] In one exemplary embodiment of this disclosure, the synchronous transmission assembly further includes:

[0015] At least two synchronizing pulleys, with at least one of the synchronizing pulleys disposed on one of the drive shafts;

[0016] A timing belt connects two adjacent timing pulleys.

[0017] In one exemplary embodiment of this disclosure, the timing pulley and the timing belt are located at the end of the drive shaft away from the gearbox.

[0018] In one exemplary embodiment of this disclosure, the synchronous transmission assembly further includes:

[0019] A tensioning pulley, which is fitted to the timing belt, is configured to tension the timing belt.

[0020] In one exemplary embodiment of this disclosure, the synchronous transmission assembly further includes:

[0021] A harmonic gear reducer is connected between the driver and the gearbox.

[0022] In one exemplary embodiment of this disclosure, the synchronous transmission assembly includes:

[0023] At least two drivers, each driver having a drive shaft, the at least two drive shafts being connected one-to-one to at least two transmission shafts;

[0024] At least two rotary encoders are connected to at least two of the aforementioned drivers in a one-to-one correspondence;

[0025] A controller, the input of which is electrically connected to the output of at least two of the rotary encoders, and the output of which is electrically connected to the control terminals of at least two of the drivers.

[0026] In one exemplary embodiment of this disclosure, at least two of the drive shafts include two first drive shafts and one second drive shaft; the synchronous transmission assembly includes:

[0027] A first driver, having a first drive shaft;

[0028] A gearbox, comprising a driving gear and at least two driven gears, wherein the driving gear is connected to a first drive shaft, and the at least two driven gears mesh with the driving gear, and the first drive shaft is connected to the driven gears;

[0029] The second driver has a second drive shaft, which is connected to the second transmission shaft;

[0030] Two rotary encoders, one of which is connected to the first driver and the other is connected to the second driver;

[0031] The controller has its input terminal electrically connected to the output terminals of the two rotary encoders, and its output terminal electrically connected to the control terminal of the first driver and the control terminal of the second driver.

[0032] In one exemplary embodiment of this disclosure, the moving component includes:

[0033] Support section;

[0034] The main body includes a support portion for housing cleaning equipment, and the connecting assembly is configured to rotate under the drive of the drive mechanism to drive the main body and the support portion to move alternately.

[0035] In one exemplary embodiment of this disclosure, the support portion includes two support structures, which are disposed on opposite sides of the main body portion in a first direction, the first direction being the extension direction of the drive shaft.

[0036] In one exemplary embodiment of this disclosure, at least two of the drive shafts have at least four drive ends, the connecting assembly includes at least four connectors, each connector having a first end and a second end disposed opposite to each other, the at least four first ends being connected one-to-one to the at least four drive ends and rotatably connected to the main body; the second end is rotatably connected to the support structure.

[0037] In one exemplary embodiment of this disclosure, in a first state, the first end of the connector is closer to the ground than the second end, and the first state is a preparation state for going upstairs or downstairs.

[0038] In one exemplary embodiment of this disclosure, the drive mechanism is disposed within the main body, and the transmission shaft is rotatably connected to the main body.

[0039] In one exemplary embodiment of this disclosure, the synchronous transmission assembly includes a motor.

[0040] According to another aspect of this disclosure, a cleaning apparatus is provided, comprising:

[0041] The supporting device is any one of the supporting devices described above, and the supporting device has a supporting part;

[0042] Cleaning equipment is located on the support portion.

[0043] According to another aspect of this disclosure, a cleaning system is provided, comprising:

[0044] Base station;

[0045] A cleaning device, wherein the cleaning device is the cleaning device described above, and the carrier device and / or the cleaning device can interface with the base station.

[0046] The load-bearing device disclosed herein can drive at least two drive shafts to rotate synchronously through a synchronous transmission assembly. Connecting members are connected to the drive shafts, thereby enabling at least two connecting members to move synchronously. The connecting assembly is connected to the moving assembly, thereby ensuring the synchronicity of the movement of the moving assembly and avoiding jamming and unsmooth movement caused by the two connecting members not moving synchronously.

[0047] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0048] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0049] Figure 1 is a schematic diagram of the three-dimensional structure after the cleaning equipment is connected to the base station in this disclosure.

[0050] Figure 2 is a schematic diagram of the three-dimensional structure of the cleaning equipment in this disclosure.

[0051] Figure 3 is a three-dimensional structural diagram of an example embodiment of the carrier device disclosed herein.

[0052] Figure 4 is a three-dimensional structural diagram of the supporting device in Figure 3 after the cover is removed.

[0053] Figure 5 is a schematic diagram of the exploded structure of the structure in Figure 4.

[0054] Figure 6 is a three-dimensional structural diagram of the drive mechanism and connecting components in Figure 4.

[0055] Figure 7 is a schematic diagram of the process of the supporting equipment climbing the building in Figure 3.

[0056] Figure 8 is a cross-sectional view of the structure in Figure 6 cut along the axial direction of the drive shaft.

[0057] Figure 9 is a structural schematic diagram of another example embodiment of the carrier device disclosed herein.

[0058] Figure 10 is a structural schematic diagram of another exemplary embodiment of the carrier device disclosed herein.

[0059] Figure 11 is a structural schematic diagram of another example embodiment of the carrier device disclosed herein.

[0060] Explanation of reference numerals in the attached drawings: 10. Moving component; 1. Support part; 11. Support structure; 111. Support surface; 2. Main body; 21. Bearing part; 22. Cover; 23. Side plate; 3. Drive mechanism; 31. Transmission shaft; 31a. First transmission shaft; 31b. Second transmission shaft; 311. First part; 312. Second part; 32. Synchronous transmission assembly; 321. Driver; 321a. First driver; 321b. Second driver; 322. Gearbox; 3221. Driving gear; 3222. Driven gear; 323. Synchronous pulley; 324. Synchronous belt; 325. Tensioner; 326. Harmonic gear reducer; 3a. Rotary encoder; 3b. Controller; 4. Connecting assembly; 41. Connector; 411. First end; 4111. Connecting sleeve; 412. Second end; 4121. Connecting shaft; 5. Cleaning equipment; 6. Stairs; 7. Gear assembly; 8. Base station; X, first direction; Y, second direction. Detailed Implementation

[0061] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0062] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0063] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0064] In this application, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium. "And / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Furthermore, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0065] The embodiments of this disclosure provide a cleaning system, as shown in Figures 1-3. The cleaning system includes a base station 8 and a cleaning device, which includes a cleaning unit 5 and a carrier device. The cleaning unit 5 may be, for example, a robotic vacuum cleaner, a robotic mop, or a robotic vacuum and mop combo; the cleaning unit 5 may include a device body, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. The base station 8 is used to dock with the cleaning unit 5, i.e., to park the cleaning unit 5. The cleaning unit 5 can perform functions such as charging, self-cleaning, docking, sewage discharge, water replenishment, and dust collection on the base station 8. The carrier device has a carrier section, on which the cleaning unit 5 can be located. The carrier device can drive the cleaning unit 5 up stairs via the carrier section.

[0066] In one embodiment, the device body is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 5. If the cleaning device 5 is a sweeping and mopping robot, then the cleaning device 5 operates on the ground.

[0067] In one embodiment, the drive module includes a drive wheel assembly. The drive module can control both the left and right wheels simultaneously. For more precise control of the machine's movement, the drive module preferably includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body.

[0068] In one embodiment, to enable the automatic cleaning device 5 to move more stably or with greater mobility on the ground, the automatic cleaning device 5 may include one or more steering wheels; wherein, the steering wheels may be driven wheels or driving wheels, and their structural forms include, but are not limited to, casters, and the steering wheels may be located in front of the driving wheel assembly. A drive motor provides power to the driving wheel assembly and / or the steering wheels.

[0069] In one embodiment, the sensing module includes a position determination device located above the device body, a buffer located in the forward portion of the device body, and a cliff sensor and various sensing devices such as an ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, and odometer located at the bottom of the device body. These sensors provide the control module with various position and motion status information of the device body. For example, the forward portion of the device body is equipped with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device 5 on the ground, the buffer detects one or more objects in the travel path of the cleaning device 5 via a sensor module, such as a collision sensor. The cleaning device 5 can pass through the objects detected by the collision sensor, such as steps, obstacles, or walls, and the control drive structure causes the cleaning device 5 to respond to the objects, such as stepping over steps.

[0070] In one embodiment, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning device 5 work more in line with the user's requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information drawn using SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 5.

[0071] In one embodiment, the energy module includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit is charged by connecting to a charging station via charging electrodes located on the side or bottom of the unit.

[0072] In one embodiment, the human-machine interaction module includes buttons on the main panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the available function options to the user; and it may also include a mobile client application. For path navigation type cleaning equipment 5, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0073] In one embodiment, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include a cleaning head, a water tank, etc.

[0074] Traditional cleaning equipment 5, limited by its mobility, struggles to handle stair cleaning in multi-story environments such as duplexes and villas. Furthermore, everyday scenarios involving heavy object transport and obstacle crossing demand greater mobility from automated equipment. While some related technologies offer simple stair-climbing capabilities, they generally suffer from issues like jamming and unsmooth movement, failing to meet practical application needs. To address this, embodiments of this disclosure provide a carrying device capable of automatically carrying the cleaning equipment 5 up stairs to different floors, enabling the cleaning equipment 5 to clean staircases and different floors, and overcoming the problems of jamming and unsmooth movement inherent in carrying equipment up stairs.

[0075] Referring to Figures 2-10, the carrying device may include a moving component 10, a connecting component 4, and a driving mechanism 3; the connecting component 4 is connected to the moving component 10, and the connecting component 4 may include at least two connecting members 41, which are configured to drive the moving component 10 to move; the driving mechanism 3 may include a synchronous transmission component 32 and at least two transmission shafts 31, the transmission shafts 31 are connected to at least one connecting member 41, and the synchronous transmission component 32 is connected to at least two transmission shafts 31 so that at least two connecting members 41 move synchronously.

[0076] The carrier device disclosed herein can drive at least two drive shafts 31 to rotate synchronously through the synchronous transmission component 32. The connecting member 41 is connected to the drive shaft 31, thereby enabling at least two connecting members 41 to move synchronously. The connecting component 4 is connected to the moving component 10, thereby ensuring the synchronicity of the movement of the moving component 10 and avoiding jamming and unsmooth movement caused by the at least two connecting members 41 not moving synchronously.

[0077] In this example embodiment, the moving component 10 may include a support portion 1 and a main body portion 2. The main body portion 2 may include a carrier portion 21, which is used to mount the cleaning device 5.

[0078] The cleaning equipment 5 can be a robot vacuum cleaner, floor scrubber, vacuum cleaner, sweeper and mop combo, window cleaning robot, etc. The cleaning equipment 5 can include a cleaning unit, which can be a roller brush, side brush, water outlet, mopping part, window cleaning part, etc., for cleaning the surface to be cleaned.

[0079] In one embodiment, referring to FIG3, the main body 2 may include a support portion 21, side plates 23, and a cover 22. The support portion 21 may be plate-shaped and is used to house the cleaning device 5. There may be four side plates 23, which can be connected end-to-end to form a frame-like side border surrounding the support portion 21. The cover 22 covers the side border formed by the four side plates 23, creating a receiving cavity in the main body 2, within which the cleaning device 5 can be placed. Of course, in other exemplary embodiments of this invention, the cover 22 may be omitted, and only the support portion 21 and side plates 23 may be provided; the number and structure of the side plates 23 may also be configured as needed.

[0080] In one embodiment, referring to Figures 3 and 4, the support portion 1 may include two support structures 11. For example, the support structure 11 may be a support plate, i.e., the support structure 11 may be plate-shaped; the support structure 11 may also be a support frame, i.e., the support structure 11 may be frame-shaped. Specifically, the support structure 11 has a support surface 111, which is the side of the support structure 11 closest to the ground or the tread of the stair 6. The support surface 111 may be flat and is used to contact the ground or the tread of the stair 6, thereby enabling the support structure 11 to support itself and the main body 2.

[0081] In one embodiment, referring to Figures 3-6, the connecting component 4 may include at least two connectors 41. For example, if the connecting component 4 and the support structure 11 are provided only on one side of the main body 2, the connecting component 4 may include two connectors 41, or it may include three connectors 41. If the connecting component 4 and the support structure 11 are provided on both sides of the main body 2, the connecting component 4 may include two connectors 41, or it may include four connectors 41. The number of connectors 41 is even, and this will not be elaborated further. The connecting component 4 may also include more connectors 41. The connectors 41 may be elongated plate-shaped connecting plates or rod-shaped connecting rods.

[0082] In one embodiment, referring to Figures 4-6, the drive mechanism 3 may include a synchronous transmission component 32 and at least two transmission shafts 31. The synchronous transmission component 32 connects to at least two transmission shafts 31. The synchronous transmission component 32 can drive at least two transmission shafts 31 to rotate synchronously, that is, the two transmission shafts 31 start and stop rotating at the same time, and have the same rotation speed, and the same starting position and ending position.

[0083] For example, the drive mechanism 3 may include a synchronous transmission component 32 and two transmission shafts 31, or the drive mechanism 3 may include a synchronous transmission component 32 and three transmission shafts 31, or the drive mechanism 3 may include a synchronous transmission component 32 and more transmission shafts 31; these will not be elaborated further here.

[0084] The drive shaft 31 is connected to at least one connector 41. For example, one drive shaft 31 can be connected to one connector 41, or one drive shaft 31 can be connected to two connectors 41. The two connectors 41 can be connected to the two drive ends of the drive shaft 31. The two opposite ends of the drive shaft 31 are its drive ends. One drive shaft 31 has two drive ends, and at least two drive shafts 31 have at least four drive ends. For example, the drive mechanism 3 can include two synchronously rotating drive shafts 31 with four drive ends; the drive mechanism 3 can include three synchronously rotating drive shafts 31 with six drive ends; the drive mechanism 3 can include more synchronously rotating drive shafts 31, and the number of drive ends can be twice the number of drive shafts 31.

[0085] The synchronous transmission component 32 can drive at least two transmission shafts 31 to rotate synchronously. The connecting member 41 is connected to the transmission shaft 31, so that at least two connecting members 41 can move synchronously. The connecting component 4 is connected to the moving component 10, that is, the connecting member 41 is connected to the moving component 10. The connecting member 41 is configured to drive the moving component 10 to move. This ensures the synchronicity of the movement of the moving component 10 and avoids jamming and unsmooth movement caused by the two connecting members 41 not moving synchronously.

[0086] In one embodiment, referring to FIG4, two support structures 11 are provided on opposite sides of the main body 2 along the first direction X, that is, one support structure 11 is provided on one side of the main body 2 along the first direction X, and another support structure 11 is provided on the opposite side of the main body 2 along the first direction X, so that the main body 2 is located between the two support structures 11.

[0087] Each connector 41 has a first end 411 and a second end 412 disposed opposite to each other, and at least four connectors 41 have at least four first ends 411 and at least four second ends 412.

[0088] The following explanation uses the example of two drive shafts 31 and four connecting parts 41, and it is necessary to ensure the synchronization of the four connecting parts 41.

[0089] Referring to Figures 4-6, four first ends 411 are connected one-to-one to at least four driving ends. Specifically, the first ends 411 of two connectors 41 are connected to the two driving ends of one drive shaft 31, and the first ends 411 of the other two connectors 41 are connected to the two driving ends of another drive shaft 31. This allows one drive shaft 31 to simultaneously drive two connectors 41 to rotate, ensuring the synchronicity of their rotation. The synchronous rotation of the drive shaft 31 ensures the synchronicity of the rotation of all four connectors 41. The first ends 411 of the connectors 41 are fixedly connected to the driving ends. Two pairs of connectors 41 form two groups, with each group located on opposite sides of the main body 2 along the first direction X. These groups are rotatably connected to the main body 2, allowing two connectors 41 to be rotatably connected to opposite sides of the main body 2 along the first direction X. The simultaneous rotation of all four connectors 41 drives the main body 2 to move, preventing the main body 2 from rotating and failing to move into position due to a shift in its center of gravity. The second end 412 is rotatably connected to the support structure 11, so that one support structure 11 is connected to two connectors 41. The two connectors 41 rotate at the same time, driving one support structure 11 to move. The four connectors 41 rotate at the same time, driving two support structures 11 (support parts 1) to move. This avoids the support parts 1 from rotating due to the offset of the center of gravity of the support structure 11, thus preventing them from moving to their positions.

[0090] In one embodiment, referring to Figures 4-6 and 8, the first end 411 of the connector 41 is provided with a connecting sleeve 4111 extending along the first direction X. The connecting sleeve 4111 is sleeved on the outside of the drive shaft 31 and is sleeved on the drive end of the drive shaft 31, and is interference-fitted with the drive shaft 31. The driven gear 3222 is sleeved on the outside of the connecting sleeve 4111 and the drive shaft 31. The driven gear 3222 is also interference-fitted with the connecting sleeve 4111 and the drive shaft 31, so that the driven gear 3222 can simultaneously drive the drive shaft 31 and the connector 41 to rotate synchronously.

[0091] Alternatively, the drive mechanism 3 can be located inside the main body 2. Through holes are provided on the side plates 23 on opposite sides of the main body 2 along the first direction X. Bearings can be installed in the through holes. Connecting sleeves 4111 of the connecting member 41 are installed in the bearings, so that the connecting member 41 is rotatably connected to the main body 2.

[0092] The connector 41 and the support structure 11 can also be rotatably connected by bearings. Specifically, a connecting shaft 4121 extending along the first direction X is provided on the connector 41, and a bearing can be provided on the connecting shaft 4121; a bearing hole can be provided on the support structure 11, and the bearing on the connecting shaft 4121 is installed in the bearing hole.

[0093] Alternatively, referring to Figures 4-6, in the first state, the first end 411 of the connector 41 is closer to the ground than the second end 412. This arrangement makes the support structure 11 a structure supported by the connector 41. The first state can be a preparation state for going up or down stairs, where the main body 2 and the support 1 do not move relative to each other, allowing the load-bearing device to be used for climbing or going down stairs.

[0094] Referring to Figure 7, the thin solid line represents the initial state, where the main body 2 is not shown; the dashed line represents the intermediate state; the thick solid line represents the final state after climbing the stairs; and the arrow indicates the rotation direction of the connector 41. The connector 41 rotates away from the stairs 6, causing the main body 2 to also rotate away from the stairs 6, gradually lifting the main body 2 to its highest point. Then, the connector 41 rotates towards the stairs 6, causing the main body 2 to also rotate towards the stairs 6, gradually lowering the main body 2 onto the tread of the next step 6. Next, the connector 41 continues to rotate away from the stairs 6, causing the support part 1 to also rotate away from the stairs 6, gradually lifting the support part 1 to its highest point. Then, the connector 41 rotates towards the stairs 6, causing the support part 1 to also rotate towards the stairs 6, gradually lowering the support part 1 onto the tread of the next step 6. This completes the ascent of one step 6.

[0095] The above-mentioned method uses the synchronous rotation of four connecting parts 41 to drive the main body 2 and the support part 1 to move alternately to the tread of the stairs, thereby realizing the stair climbing function. Therefore, the synchronous rotation of the four connecting parts 41 is highly demanding. If even one connecting part 41 fails to rotate synchronously, jamming will occur, affecting the realization of the stair climbing function.

[0096] It should be noted that staircase 6 is not limited to a staircase between two floors; it can also be several steps between two planes of different heights. Therefore, climbing stairs can also mean going up and down steps.

[0097] Of course, the support device can also be used for non-climbing purposes, such as walking, moving, and crossing obstacles. Similarly, when the support device is walking, moving, or crossing obstacles (non-climbing), the main body 2 and the support 1 move alternately by the synchronous rotation of the four connecting parts 41. Therefore, the synchronization requirement for the rotation of the four connecting parts 41 is high. If even one connecting part 41 fails to rotate synchronously, jamming will occur, affecting the realization of the movement function.

[0098] In one embodiment, referring to Figures 4-6 and 8, the synchronous transmission assembly 32 may include a driver 321 and a gearbox 322; the driver 321 has a drive shaft; the driver 321 may be a motor, for example, a high-torque motor, which is a motor capable of outputting a large torque. Torque is the force generated when a motor rotates, which determines the motor's ability to drive a load. Of course, in other exemplary embodiments of this disclosure, the driver 321 may also be a servo motor, or it may be a conventional motor.

[0099] The gearbox 322 may include a driving gear 3221 and at least two driven gears 3222. For example, the gearbox 322 may include a driving gear 3221 and two driven gears 3222, or the gearbox 322 may include a driving gear 3221 and three driven gears 3222, or the gearbox 322 may include a driving gear 3221 and more driven gears 3222.

[0100] When the number of driven gears 3222 is even, at least two driven gears 3222 are symmetrically arranged, with the axis of symmetry being the diameter of the driving gear 3221. That is, the driven gears 3222 meshing with the driving gear 3221 have the same size and structure, and the driven gears 3222 immediately adjacent to the driving gear 3221 also have the same size and structure. Subsequent driven gears 3222 are also symmetrically arranged in the same way. This ensures the synchronization of the transmission shafts 31 connected to the driven gears 3222. In this case, the two transmission shafts 31 are generally connected to the two driven gears 3222 furthest from the driving gear 3221.

[0101] When the number of driven gears 3222 is odd, the odd number of driven gears 3222 are all the same in size and structure to ensure the synchronization of the transmission shafts 31 connected to the driven gears 3222. In this case, a transmission shaft 31 can be connected to each driven gear 3222, and three transmission shafts 31 can be provided.

[0102] A drive gear 3221 is connected to a drive shaft, and at least two driven gears 3222 mesh with the drive gear 3221. At least two transmission shafts 31 are connected to the at least two driven gears 3222. The drive gear 3221 can be driven to rotate by the driver 321, which in turn drives the at least two driven gears 3222 to rotate, and the at least two driven gears 3222 drive the at least two transmission shafts 31 to rotate. Moreover, the arrangement of the driven gears 3222 ensures the synchronization of the transmission shafts 31 connected to the driven gears 3222.

[0103] By using a single motor to drive at least two drive shafts 31 to rotate, the synchronicity of the rotation of at least two drive shafts 31 can be guaranteed, and a single motor can be saved, thereby reducing costs.

[0104] Alternatively, the synchronous transmission assembly 32 may also include at least one synchronous belt 324 and at least two synchronous pulleys 323; at least one synchronous pulley 323 is provided on a transmission shaft 31, and the synchronous belt 324 is connected to two adjacent synchronous pulleys 323.

[0105] For example, referring to Figures 4-6 and Figure 8, when there are two drive shafts 31, if a synchronous pulley 323 is provided on one drive shaft 31, then there are two synchronous pulleys 323. If a synchronous belt 324 is connected to two adjacent synchronous pulleys 323, then there is one synchronous belt 324. Thus, the synchronous transmission assembly 32 can also include a synchronous belt 324 and two synchronous pulleys 323.

[0106] In some other exemplary embodiments of this disclosure, when three drive shafts 31 are provided, a synchronous pulley 323 is provided on each of the two drive shafts 31 on both sides, and two synchronous pulleys 323 can be provided on the middle drive shaft 31, resulting in four synchronous pulleys 323. A synchronous belt 324 connects to two adjacent synchronous pulleys 323, resulting in two synchronous belts 324. Thus, the synchronous transmission assembly 32 can also include two synchronous belts 324 and four synchronous pulleys 323. Furthermore, cases with more than one drive shaft 31 will not be described here.

[0107] When the two drive shafts 31 rotate asynchronously, with one rotating faster and the other slower, the faster-rotating drive shaft 31 will drive the slower-rotating drive shaft 31 to rotate via the synchronous belt 324 and synchronous pulley 323. This synchronous pulley 323 and synchronous belt 324 further ensure the synchronicity of the rotation of at least two drive shafts 31, thereby ensuring the synchronicity of the movement of at least two connecting parts 41. This avoids jamming, climbing, and other difficulties in the movement process caused by the asynchronous movement of the two connecting parts 41. This is especially important for structures with long drive shafts 31.

[0108] In some other exemplary embodiments of this disclosure, meshing gears may be provided on two adjacent drive shafts 31 to replace the synchronous pulley 323 and the synchronous belt 324; sprockets and chains may also be used to replace the synchronous pulley 323 and the synchronous belt 324. Specifically, sprockets are provided on the drive shafts 31 and chains are connected to two adjacent sprockets.

[0109] Alternatively, referring to Figures 4-6 and Figure 8, the synchronous pulley 323 and the synchronous belt 324 are located at the end of the drive shaft 31 away from the gearbox 322; that is, the gearbox 322 and the synchronous pulley 323 and the synchronous belt 324 are located at opposite ends in the extension direction of the drive shaft 31. Since the synchronous rotation of at least two drive shafts 31 is already ensured by the gearbox 322 at one end of the drive shaft 31, when the drive shaft 31 is long, the synchronous rotation of the end of the drive shaft 31 away from the gearbox 322 cannot be guaranteed. The synchronous pulley 323 and the synchronous belt 324 can ensure the synchronous rotation of the end of at least two drive shafts 31 away from the gearbox 322, thereby ensuring the synchronous rotation of at least four drive ends connected to at least two drive shafts 31, and further ensuring the synchronous rotation of at least four connecting parts 41, avoiding jamming, climbing, and unsmooth movement caused by the four connecting parts 41 not moving synchronously.

[0110] Alternatively, as shown in Figures 4-6, the synchronous transmission assembly 32 may further include a tensioning pulley 325. Specifically, the tensioning pulley 325 may include a tensioning pulley shaft and a pulley body, etc. The pulley body is rotatably connected to the tensioning pulley shaft. The tensioning pulley shaft may be connected to the main body 2. The tensioning pulley 325 is engaged with the synchronous belt 324, specifically the pulley body is engaged with the synchronous belt 324. The position of the pulley body can be adjusted to achieve tensioning of the synchronous belt 324, preventing the synchronous belt 324 from becoming too loose during use, which would affect the synchronization of at least two transmission shafts 31.

[0111] Alternatively, referring to Figure 6, the synchronous transmission assembly 32 may further include a harmonic gear reducer 326, which is connected between the driver 321 and the gearbox 322. The harmonic gear reducer 326 is a mechanism that utilizes the principle of harmonic vibration to achieve gear transmission. It consists of three basic components: a rigid wheel (fixed wheel), a flexible wheel (elastic wheel), and a wave generator. The wave generator is typically elliptical or similar in shape and is inserted into the flexible wheel via bearings. As the wave generator rotates, it applies radial pressure to the flexible wheel, causing it to elastically deform and mesh with the teeth on the rigid wheel, thus achieving torque and speed conversion. The harmonic gear reducer 326 has advantages such as high precision, large reduction ratio, small size and lightweight, high load-bearing capacity, high transmission efficiency, low noise, and simple and compact structure. The harmonic gear reducer 326 can achieve micron-level positioning accuracy. Therefore, the harmonic gear reducer 326 can reduce or even eliminate backlash between gears, further ensuring the synchronicity of rotation of at least two drive shafts 31, thereby ensuring the synchronicity of movement of at least two connecting parts 41, and avoiding jamming, climbing, and unsmooth movement caused by the inability of at least two connecting parts 41 to move synchronously.

[0112] The specific structure of the synchronous transmission assembly 32 is not limited to the above description. For example, in some other exemplary embodiments of this disclosure, as shown in FIG9 and FIG10, the synchronous transmission assembly 32 may include a controller 3b, at least two drivers 321 and at least two rotary encoders 3a; the driver 321 has a drive shaft, and at least two drive shafts are connected to at least two transmission shafts 31 in a one-to-one correspondence, that is, one driver 321 is connected to one transmission shaft 31, and one driver 321 drives one transmission shaft 31 to rotate; the number of drivers 321 is the same as the number of transmission shafts 31.

[0113] The driver 321 can be a motor. As shown in FIG9, the driver 321 can be a dual-output motor, that is, a motor drives two drive shafts to achieve double power output. A drive shaft 31 can be divided into two sections, one of which is connected to one drive shaft of the driver 321 through a coupling, and the other section is connected to the other drive shaft of the driver 321 through a coupling. Connecting parts 41 can be connected to the drive ends of these two sections away from the driver 321.

[0114] Referring to FIG10, the driver 321 can be connected to the drive shaft 31 via the gear assembly 7. Specifically, the gear assembly 7 may include at least two meshing gears, the output shaft of the driver 321 is connected to one gear, and the drive shaft 31 is coaxially connected to the other gear, so that both drive ends of the drive shaft 31 can be connected to the connector 41.

[0115] For example, the driver 321 can be a high-torque motor, which is an electric motor capable of outputting a large torque. Torque is the force generated when a motor rotates, and it determines the motor's ability to drive a load. Of course, in some other example embodiments of this disclosure, the driver 321 can also be a servo motor, or it can be a conventional motor.

[0116] At least two rotary encoders 3a are connected one-to-one to at least two drivers 321, meaning one rotary encoder 3a is connected to the first driver 321. A rotary encoder 3a is a sensor that converts rotational mechanical displacement into an electrical signal. The working principle of a rotary encoder 3a is based on the photoelectric effect or the magnetoelectric effect. In a photoelectric rotary encoder 3a, there is typically a photoelectric code disk with a central shaft and circular, dark and light-colored markings. When the code disk rotates with the object being measured, photoelectric transmitting and receiving devices read the changes in these markings, thereby obtaining the corresponding electrical signal. These electrical signals can be processed and converted into information such as position, speed, or angle. A magnetoelectric rotary encoder 3a, on the other hand, uses changes in a magnetic field to generate an electrical signal.

[0117] The rotary encoder 3a can detect the number of rotations of each driver 321, accurate to arcseconds (″); that is, the rotary encoder 3a can detect the actual rotation speed of each driver 321 and its rotational position at each moment.

[0118] The input of controller 3b is electrically connected to the output of at least two rotary encoders 3a, allowing the rotary encoders 3a to transmit the detected actual rotational speeds of each driver 321 and their rotational positions at various times to controller 3b. The output of controller 3b is electrically connected to the control terminals of at least two drivers 321. Controller 3b can detect the speed of one motor and compare it with the speed of another motor; then, it generates a signal to adjust the speed of the second motor, ensuring that the second motor's speed is synchronized with the first motor. This method achieves relatively precise synchronization. Controller 3b may include a phase-locked loop (PLL).

[0119] Of course, if the drive shaft 31 is relatively long, the above-mentioned structure of synchronous belt 324 and synchronous pulley 323 can also be provided to ensure the synchronicity of the rotation of at least two drive shafts 31.

[0120] In addition, in some other exemplary embodiments of this disclosure, a combination of the two exemplary embodiments described above can be used. Specifically, referring to FIG11, three drive shafts 31 can be provided. For ease of explanation, the three drive shafts 31 are two first drive shafts 31a and one second drive shaft 31b. Two drivers 321 are provided, namely first driver 321a and second driver 321b. The first driver 321a is connected to the driving gear 3221 of the gearbox 322. The two driven gears 3222 of the gearbox 322 are connected to the two first drive shafts 31a in a one-to-one correspondence, driving the two first drive shafts 31a to rotate synchronously through the first driver 321a and the gearbox 322. The second driver 321b is connected to the second drive shaft 31b. Specifically, the second drive shaft of the second driver 321b can be connected to the second drive shaft 31b through a gear assembly 7. A rotary encoder 3a is connected to both the first driver 321a and the second driver 321b. The input terminal of controller 3b is electrically connected to the output terminals of the two rotary encoders 3a, enabling the rotary encoders 3a to transmit the actual rotational speed and rotational position of each detected driver 321 at various times to controller 3b. The output terminal of controller 3b is electrically connected to the control terminals of the first driver 321a and the second driver 321b. Controller 3b can detect the speed of the first driver 321a and compare it with the speed of the second driver 321b; then, it generates a signal to adjust the speed of the second driver 321b, so that the speed of the second driver 321b is consistent with that of the first driver 321a, thereby achieving synchronous rotation of the three drive shafts 31. Connectors 41 are connected to both ends of the three drive shafts 31, thus providing six connectors 41. This ensures the synchronicity of the movement of the six connectors 41 and avoids jamming, climbing, and other difficulties in the movement process caused by the six connectors 41 not moving synchronously.

[0121] Of course, in some other exemplary embodiments of this disclosure, more drive shafts 31 can be provided, and more drive shafts 31 can rotate synchronously, which will not be described in detail here.

[0122] In one embodiment, as shown in FIG8, the drive shaft 31 can be configured as two sections, that is, the drive shaft 31 may include a first part 311 and a second part 312. The first part 311 and the second part 312 can be connected by a coupling. Alternatively, a first flange can be provided on the first part 311 and a second flange can be provided on the second part 312. The first flange and the second flange can be connected by screws, thereby fixing the first part 311 and the second part 312 together.

[0123] Based on the same inventive concept, this disclosure provides a cleaning device, which may include a support device and a cleaning device 5. The support device may be any of the support devices described above, and its specific structure has been described in detail above, so it will not be repeated here. The support device has a support part 21, and the cleaning device 5 is disposed in the support part 21. The support part 21 may be a receiving cavity, and the cleaning device 5 is disposed in the receiving cavity. The support device can move the cleaning device 5 up and down stairs, that is, move the cleaning device 5 from one floor to another floor to clean the other floor.

[0124] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A carrying device, comprising: Mobile components; A connecting component, connected to the movable component, the connecting component including at least two connectors, the connectors being configured to drive the movable component to move; A drive mechanism includes a synchronous transmission assembly and at least two drive shafts, the drive shafts being connected to at least one of the connecting members, and the synchronous transmission assembly being connected to at least two of the drive shafts to enable at least two of the connecting members to move synchronously.

2. The bearing device as described in claim 1, wherein, The synchronous transmission assembly includes: A driver, having a drive shaft; A gearbox, comprising a driving gear and at least two driven gears, wherein the driving gear is connected to the drive shaft, the at least two driven gears mesh with the driving gear, and the transmission shaft is connected to the driven gears.

3. The bearing device as described in claim 2, wherein, The synchronous transmission assembly also includes: At least two synchronizing pulleys, with at least one of the synchronizing pulleys disposed on one of the drive shafts; A timing belt connects two adjacent timing pulleys.

4. The bearing device as described in claim 3, wherein, The timing pulley and the timing belt are located at the end of the drive shaft away from the gearbox.

5. The bearing device as described in claim 3, wherein, The synchronous transmission assembly also includes: A tensioning pulley, which is fitted to the timing belt, is configured to tension the timing belt.

6. The bearing device as described in claim 2, wherein, The synchronous transmission assembly also includes: A harmonic gear reducer is connected between the driver and the gearbox.

7. The bearing device as claimed in claim 1, wherein, The synchronous transmission assembly includes: At least two drivers, each driver having a drive shaft, the at least two drive shafts being connected one-to-one to at least two transmission shafts; At least two rotary encoders are connected to at least two of the aforementioned drivers in a one-to-one correspondence; A controller, the input of which is electrically connected to the output of at least two of the rotary encoders, and the output of which is electrically connected to the control terminals of at least two of the drivers.

8. The bearing device as claimed in claim 1, wherein, At least two of the drive shafts include two first drive shafts and one second drive shaft; the synchronous transmission assembly includes: A first driver, having a first drive shaft; A gearbox, comprising a driving gear and at least two driven gears, wherein the driving gear is connected to a first drive shaft, and the at least two driven gears mesh with the driving gear, and the first drive shaft is connected to the driven gears; The second driver has a second drive shaft, which is connected to the second transmission shaft; Two rotary encoders, one of which is connected to the first driver and the other of which is connected to the second driver; The controller has its input terminal electrically connected to the output terminals of the two rotary encoders, and its output terminal electrically connected to the control terminal of the first driver and the control terminal of the second driver.

9. The bearing device according to any one of claims 1 to 8, wherein, The moving component includes: Support section; The main body includes a support portion for housing cleaning equipment, and the connecting assembly is configured to rotate under the drive of the drive mechanism to drive the main body and the support portion to move alternately.

10. The bearing device as claimed in claim 9, wherein, The support portion includes two support structures, which are disposed on opposite sides of the main body portion in a first direction, the first direction being the extension direction of the drive shaft.

11. The bearing device as claimed in claim 10, wherein, At least two of the drive shafts have at least four drive ends, and the connecting assembly includes at least four connectors, each connector having a first end and a second end disposed opposite to each other. At least four of the first ends are connected to at least four of the drive ends in a one-to-one correspondence and are rotatably connected to the main body; the second end is rotatably connected to the support structure.

12. The bearing device as claimed in claim 11, wherein, In the first state, the first end of the connector is closer to the ground than the second end, and the first state is a preparation state for going upstairs or downstairs.

13. The bearing device as claimed in claim 9, wherein, The drive mechanism is located inside the main body, and the transmission shaft is rotatably connected to the main body.

14. The bearing device as claimed in claim 1, wherein, The synchronous transmission assembly includes a motor.

15. A cleaning device, comprising: The supporting device is the supporting device according to any one of claims 1 to 14, wherein the supporting device has a supporting part; Cleaning equipment is located on the support portion.

16. A cleaning system, comprising: Base station; A cleaning device, wherein the cleaning device is the cleaning device as described in claim 15 above, and the carrier device and / or the cleaning device is capable of docking with the base station.

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