Chassis structure, cleaning device, and cleaning system

Abstract

The present application relates to the technical field of cleaning, and specifically to a chassis structure, a cleaning device, and a cleaning system. The chassis structure comprises a chassis body, a driving wheel, and a driving assembly. The driving wheel comprises a roller and a support frame. The roller is rotatably connected to the support frame. The support frame is rotatably connected to the chassis body via a rotating shaft. The support frame is provided with a lifting portion. The driving assembly is arranged on the chassis body. The driving assembly comprises a swing driving member connected to the lifting portion. The swing driving member rotates in a forward direction or a reverse direction, such that the chassis body has a raised position and a normal position, and the chassis body moves between the raised position and the normal position. The chassis structure of the present application can solve the problem that a fixed lifting height of a chassis structure results in unstable obstacle-crossing capability when the chassis structure is applied to different ground environments.

Description

Chassis structure, cleaning equipment and cleaning system

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202520548787.9, filed on March 26, 2025, entitled "Chassis Structure, Cleaning Equipment and Cleaning System", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of cleaning technology, specifically to a chassis structure, cleaning equipment, and cleaning system. Background Technology

[0004] Cleaning equipment refers to common intelligent cleaning appliances, such as robotic vacuum cleaners and automatic sweeping machines. During the cleaning process, these devices need to navigate various complex floor environments, including obstacles like door thresholds, carpet edges, and electrical wires. The obstacle-crossing ability of these cleaning devices during autonomous operation is crucial.

[0005] In related technologies, cleaning equipment achieves obstacle-crossing capabilities by combining drive wheels, suspension systems, and sensors. The chassis structure of the cleaning equipment can be raised a certain height relative to the ground to overcome obstacles. However, the lifting height of the chassis structure is usually fixed, resulting in low accuracy in obstacle-crossing under different ground conditions, which can easily lead to unstable obstacle-crossing ability and thus affect cleaning efficiency. Summary of the Invention

[0006] This application provides a chassis structure, cleaning equipment, and cleaning system that can solve the problem of unstable obstacle-crossing ability when the chassis structure has a fixed lifting height and is applied to different ground environments.

[0007] To achieve the above objectives, in a first aspect, this application provides a chassis structure comprising: a chassis body, drive wheels, and a drive assembly. The drive wheels include rollers and a bracket; the rollers are rotatably connected to the bracket, which is rotatably connected to the chassis body via a pivot shaft. The bracket has a lifting portion. The drive assembly is disposed on the chassis body and includes a swing drive member connected to the lifting portion. The swing drive member rotates in either the forward or reverse direction, causing the chassis body to have a raised position and a normal position, and the chassis body moves between the raised position and the normal position.

[0008] The chassis structure provided in this application allows the height of the swing drive relative to the surface to be cleaned to change when the swing drive rotates in the forward or reverse direction. Since the swing drive is connected to the lifting section on the drive wheel bracket, the height of the lifting section relative to the surface to be cleaned changes synchronously when the height of the swing drive changes. Because the bracket is rotatably connected to the chassis body via a pivot, when the lifting section rises or falls relative to the surface to be cleaned, the lifting section can drive the chassis body to rise or fall to reach the raised position and the normal position via the pivot.

[0009] Because the swing drive can rotate in either direction, different positions allow the lifting section to reach different heights relative to the surface to be cleaned, thus enabling the chassis to rise or fall to different positions. The chassis can stop at any position between the raised and normal positions to traverse obstacles of varying sizes, achieving precise obstacle crossing and providing more stable obstacle-crossing capabilities.

[0010] Furthermore, it is easy to understand that when the cleaning equipment encounters obstacles of different sizes, the chassis can be raised to different heights. Therefore, when the obstacle is small, the chassis can be raised to a smaller size to save lifting time and energy consumption, which helps to improve cleaning efficiency, reduce energy consumption, and improve battery life.

[0011] According to one embodiment of this application, the chassis body has a first end and a second end along the travel direction of the chassis body;

[0012] When the chassis body is in the raised position, the distance between at least one of the first end and the second end and the surface to be cleaned increases.

[0013] In this embodiment, the lifting part can be driven upward by rotating the swing drive. The lifting part is located on the bracket, and the rotating shaft is mounted on the bracket. Therefore, when the lifting part moves upward, the rotating shaft can also move upward synchronously, thereby causing the chassis body to move in the direction of the lifting position.

[0014] When the chassis body is in the raised position, the distance between at least one of the first and second ends of the chassis body and the surface to be cleaned increases. This allows the end of the chassis body with the increased distance to the surface to be cleaned to cross over the obstacle and continue cleaning when encountering it. Therefore, it reduces the possibility of the cleaning equipment colliding with an obstacle and reversing, resulting in some areas of the surface to be cleaned remaining uncleaned and affecting the cleaning effect.

[0015] According to one embodiment of this application, along the traveling direction of the chassis body, the first end is located at the front side of the chassis body;

[0016] When the chassis body is in the raised position, the chassis body is tilted relative to the surface to be cleaned, the distance between the first end and the surface to be cleaned increases, while the distance between the second end and the surface to be cleaned remains unchanged.

[0017] In this embodiment, when the chassis body is in the raised position, the distance between the first end located at the front of the chassis body and the surface to be cleaned increases. At this time, the center of gravity of the chassis body can be closer to the rear of the chassis body, causing the chassis body to tilt backward as a whole, and the chassis body to be in an inclined state relative to the surface to be cleaned. This configuration increases the range of the lifting height of the first end at the front of the chassis body, thereby improving the obstacle-crossing ability of the cleaning equipment.

[0018] Furthermore, it is easy to understand that, along the direction of travel of the chassis body, the drive wheels can be located in the middle area of ​​the chassis body, and the lifting part can be located on the side closer to the first end. When the lifting part lifts with a small stroke, the first end on the front side of the chassis body can be lifted with a larger stroke. Therefore, with a small driving force, the cleaning equipment can have a high obstacle-crossing ability.

[0019] According to one embodiment of this application, the rollers and the shaft have a spacing along the travel direction of the chassis body.

[0020] In this embodiment, when the lifting part is flipped upward by the force of the swing drive (e.g., counterclockwise flipping as shown in Figure 3), the rotating shaft also flips upward synchronously. The rotating shaft can flip counterclockwise relative to the rollers to move the chassis body towards the lifting position. By setting a distance between the rollers and the rotating shaft in the direction of travel, the rollers and the rotating shaft can form a large motion arm. According to the torque formula, when the pushing force of the rotating shaft on the chassis body is constant, the longer the lever arm, the greater the torque, which can more effectively drive the chassis body to lift and improve lifting efficiency. Alternatively, when the torque is constant, when the lever arm is long, the pushing force of the rotating shaft on the chassis body can be set smaller, so that the pushing force of the swing drive to drive the lifting part upward can be smaller, which is beneficial to achieving a labor-saving effect.

[0021] Similarly, when the swing drive rotates in the opposite direction, the lifting part can be flipped downwards (for example, clockwise as shown in Figure 3), and the rotating shaft can move downwards. The rotating shaft can flip downwards clockwise relative to the rollers, so that the chassis body moves in the direction of normal position. By setting the distance between the rollers and the rotating shaft in the direction of travel, the rollers and the rotating shaft can form a larger motion arm to improve lifting efficiency and achieve a labor-saving effect.

[0022] Alternatively, when the chassis body moves from the raised position to the normal position, the swing drive may not have a driving effect on the raised part. For example, when the swing drive rotates in the opposite direction, it can release the pushing force on the raised part, and the chassis body can move to the normal position under its own weight.

[0023] According to one embodiment of this application, the pivot and the lifting part are spaced apart along the height direction of the chassis body.

[0024] In this embodiment, the pivot can be located close to the lifting section along the traveling direction of the chassis body. Furthermore, the pivot and the lifting section can be spaced apart along the height direction of the chassis body. With this configuration, during the lifting or lowering of the chassis body, the rollers, the lifting section, and the pivot can form a stable three-point support, which helps improve the stability and reliability of the chassis body's movement between the lifted position and the normal position.

[0025] According to one embodiment of this application, along the traveling direction of the chassis body, the swing drive has a driving surface facing the roller, the swing drive rotates in the forward direction to make the lifting part move in the direction of the roller, and the swing drive drives the chassis body to move in the direction of the lifting position.

[0026] The swing drive rotates in the opposite direction to move the lifting part away from the roller, while the chassis body moves back to its normal position.

[0027] In this embodiment, when the swing drive rotates in the forward direction, the swing drive can be connected to the lifting part through the driving surface to provide an upward flipping driving force for the lifting part.

[0028] In this design, the drive assembly and drive wheels can be arranged side-by-side along the width direction of the chassis body. The width direction can refer to the direction perpendicular to the travel direction. Along the width direction of the chassis body, there is an overlap area between the swing drive and the lifting unit. Therefore, when the swing drive swings in a plane parallel to the travel direction of the chassis body, it can provide or release a pushing force to the lifting unit.

[0029] According to one embodiment of this application, the swing drive has an auxiliary surface, which forms an angle with the drive surface, and the auxiliary surface and the drive surface form a space that can accommodate a portion of the lifting part. The auxiliary surface is used to connect with the lifting part when the chassis body moves in the direction of the normal position, so as to assist the chassis body in resetting.

[0030] In this embodiment, the rotation of the swing drive can drive the lifting part to flip upwards, thereby raising the chassis body. When the swing drive rotates in the opposite direction, it releases the pushing force that caused the lifting part to flip upwards. On one hand, the chassis body can move downwards to its normal position under its own weight. On the other hand, the auxiliary surface of the swing drive can be connected to the lifting part and drive it to flip downwards, promoting the chassis body to move towards its normal position and increasing the rate at which the chassis body returns to its normal position.

[0031] It should be noted that when the chassis moves towards its normal position, it can move downwards primarily due to its own gravity. Therefore, the force exerted by the reverse rotation of the swing drive component is relatively small, which helps reduce energy loss when the chassis moves from the raised position to the normal position, thus improving the cleaning equipment's endurance.

[0032] According to one embodiment of this application, the drive assembly includes a power unit and a transmission unit. One end of the transmission unit is connected to the power unit, and the other end of the transmission unit is connected to the swing drive member. The power unit drives the swing drive member to rotate forward or backward through the transmission unit.

[0033] In this embodiment, the power unit can be used to provide driving force for the forward or reverse rotation of the oscillating drive member. The transmission unit can be used to transmit the power provided by the power unit to the oscillating drive member, so that the oscillating drive member can rotate in the forward or reverse direction.

[0034] According to one embodiment of this application, the transmission unit includes a worm and a worm wheel that move in coordination. The worm is connected to a power unit, and the worm wheel is connected to a swing drive.

[0035] In this embodiment, the worm gear transmission features real-time self-locking. When the power unit stops operating, the lifting or lowering of the chassis body can cease and it can self-lock in its current position. Therefore, when the chassis body is in a self-locking state, it remains in its current state, and slippage between the worm gear and worm is less likely to occur.

[0036] Furthermore, the small clearance between the worm gear and worm drive results in high transmission precision, enabling precise lifting or lowering of the chassis. The meshing of the worm gear and worm results in minimal impact and vibration, thus providing high stability, smooth operation, and low noise. In addition, the worm gear and worm drive allows for a compact transmission unit structure, minimizing the space required on the chassis. This frees up space for other functional modules, accommodating the multi-functional needs of the cleaning equipment.

[0037] According to one embodiment of this application, the drive wheel further includes an auxiliary wheel, which is disposed on the bracket and is used to overcome obstacles when the chassis body encounters an obstacle.

[0038] In this embodiment, along the traveling direction of the chassis body, the auxiliary wheel can pass through the first obstacle at the front end of the chassis body, thereby enabling the middle area of ​​the auxiliary chassis body to pass through the obstacle smoothly, and thus the second obstacle at the rear end of the chassis body can also pass through the obstacle more easily.

[0039] Specifically, when the chassis encounters an obstacle during its movement, the first end of the chassis can be raised upwards under the action of the swing drive, allowing the front of the chassis to tilt up to a certain height and smoothly overcome the obstacle. After the front of the chassis overcomes the obstacle, the auxiliary wheels, through the contact force with the surface to be cleaned or the obstacle, can raise the middle area of ​​the chassis to a certain height, allowing the middle area of ​​the chassis to smoothly overcome the obstacle. Then, as the chassis continues to move, the second end of the chassis at the rear can drive the omnidirectional wheels to overcome the obstacle under the action of the drive wheels and auxiliary wheels, thus completing the obstacle-crossing process.

[0040] According to one embodiment of this application, a Hall encoder is also included, which is connected to the power unit and is used to control the operating parameters of the power unit.

[0041] In this embodiment, the operating parameters of the power unit can directly control the lifting height of the chassis body, thereby enabling precise lifting of the chassis body via the Hall encoder. The chassis body can stop at any position between the lifted position and the normal position, achieving stepless adjustment of the chassis body.

[0042] Secondly, this application provides a cleaning device that includes the chassis structure of any of the above embodiments.

[0043] Thirdly, this application provides a cleaning system that includes a base station and cleaning equipment. The cleaning equipment can be placed on the base station.

[0044] The beneficial effects of the chassis structure provided in this application are as follows: the chassis body can move between a raised position and a normal position by rotating the swing drive in either the forward or reverse direction. When the chassis body is raised to the point where it can overcome obstacles, the swing drive can stop moving. After the chassis body has overcome the obstacle, it can descend to the normal position. Therefore, by rotating the swing drive in either the forward or reverse direction, the chassis body can be in any position between the raised position and the normal position while successfully overcoming obstacles, achieving high obstacle-crossing accuracy, improving the stability of obstacle-crossing capability, and ensuring cleaning efficiency. Attached Figure Description

[0045] Figure 1 shows a side view of a cleaning device according to one embodiment of this application;

[0046] Figure 2 shows a partial structural schematic diagram of a chassis structure according to one embodiment of this application;

[0047] Figure 3 shows another partial structural schematic diagram of a chassis structure proposed according to one embodiment of this application.

[0048] Explanation of reference numerals in the attached drawings: 10-Cleaning equipment; 100-Chassis structure; 110-Chassis body; 110a-First end; 110b-Second end; 120-Drive wheel; 121-Roller; 122-Bracket; 1221-Lifting part; 123-Rotating shaft; 124-Auxiliary wheel; 130-Drive assembly; 131-Oscillating drive component; 131a-Drive surface; 131b-Auxiliary surface; 132-Power unit; 133-Transmission unit; 1331-Worm gear; 1332-Worm wheel; 134-Drive shaft; 140-Universal wheel; X-Travel direction; Y-Height direction; Z-Width direction. Detailed Implementation

[0049] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims. Clearly, the described embodiments are only a portion, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0050] The cleaning device provided in this application embodiment can be a floor sweeper. A floor sweeper is a device for cleaning floors. The cleaning function of a floor sweeper is mainly achieved through the high-speed rotation of a motor. The high-speed rotation of the motor can create a vacuum inside the machine, so that high-speed airflow can be used to suck dust, hair, and other dirt from the floor into the machine through the suction port. The dirt can be accumulated in a cloth bag or dust box for convenient regular cleaning by the user.

[0051] Some sweeping machines can also be equipped with a mop and a water tank to perform mopping operations while sweeping or after sweeping, thereby further improving the cleaning effect. The cleaning equipment in this application embodiment may only have sweeping function, or it may have a combination of sweeping and mopping functions; this application embodiment is not limited to any particular function.

[0052] During operation, the distance between the chassis and the ground of a robotic vacuum cleaner is usually small to ensure effective suction and improve the removal of dirt. However, when there is an obstacle in front, the small distance between the chassis and the ground can cause the chassis to collide with the obstacle, preventing the vacuum cleaner from continuing its journey and affecting cleaning performance and efficiency. Even slightly protruding obstacles in the path the vacuum cleaner travels can easily prevent it from passing. For example, thresholds, the bottom tracks of sliding doors, carpet edges, and power cords can all obstruct the vacuum cleaner's movement.

[0053] Therefore, the obstacle-crossing ability of cleaning equipment during autonomous driving is crucial. In related technologies, cleaning equipment achieves obstacle-crossing functionality through a combination of drive wheels, suspension systems, and sensors. The chassis structure of the cleaning equipment can be raised a certain height relative to the ground to traverse obstacles. However, the chassis lifting height is usually fixed, resulting in low accuracy in obstacle-crossing under different ground conditions, which can easily lead to unstable obstacle-crossing ability and thus affect cleaning efficiency.

[0054] Based on the aforementioned technical problems, the applicant has improved the existing chassis structure. In the embodiments of this application, the drive component can rotate the swing drive member in either the forward or reverse direction, allowing the chassis body to move between a raised position and a normal position. When the chassis body is raised to the point where it can overcome obstacles, the swing drive member can stop moving. After the chassis body has overcome the obstacle, it can descend to the normal position. Therefore, by rotating the swing drive member in either the forward or reverse direction, the chassis body can be in any position between the raised and normal positions while successfully overcoming obstacles, achieving high obstacle-crossing accuracy, which is beneficial for improving the stability of obstacle-crossing capability and ensuring cleaning efficiency.

[0055] The chassis structure 100, cleaning equipment 10, and cleaning system provided in this application are described below with reference to the accompanying drawings and specific embodiments.

[0056] Referring to Figures 1 to 3, the chassis structure 100 of this application embodiment includes a chassis body 110, drive wheels 120 and drive assembly 130.

[0057] The drive wheel 120 includes a roller 121 and a bracket 122. The roller 121 is rotatably connected to the bracket 122. The bracket 122 is rotatably connected to the chassis body 110 via a pivot 123. The bracket 122 is provided with a lifting part 1221.

[0058] A drive assembly 130 is disposed on the chassis body 110. The drive assembly 130 includes a swing drive member 131. The swing drive member 131 is connected to the lifting part 1221. The swing drive member 131 rotates in the forward or reverse direction so that the chassis body 110 has a raised position and a normal position. The chassis body 110 moves between the raised position and the normal position.

[0059] In this embodiment, the height of the swing drive 131 relative to the surface to be cleaned changes when the swing drive 131 rotates in the forward or reverse direction. Since the swing drive 131 is connected to the lifting portion 1221 on the bracket 122 of the drive wheel 120, the height of the lifting portion 1221 relative to the surface to be cleaned changes synchronously when the height of the swing drive 131 changes. Since the bracket 122 is rotatably connected to the chassis body 110 via the rotating shaft 123, when the lifting portion 1221 is raised or lowered relative to the surface to be cleaned, the lifting portion 1221 can drive the chassis body 110 to be raised or lowered via the rotating shaft 123 to reach the raised position and the normal position.

[0060] Because the swing drive 131 can rotate in either the forward or reverse direction, when the swing drive 131 rotates to different positions, the lifting part 1221 can be at different heights relative to the surface to be cleaned, thereby allowing the chassis body 110 to be raised or lowered to different positions. The chassis body 110 can stop at any position between the raised position and the normal position to traverse obstacles of different sizes, thus achieving precise obstacle crossing and providing more stable obstacle crossing capability.

[0061] Furthermore, it is easy to understand that when the cleaning device 10 encounters obstacles of different sizes, the chassis body 110 can be raised to different heights. Therefore, when the size of the obstacle is small, the chassis body 110 can raise the smaller size to save lifting time and lifting energy, which is beneficial to improving cleaning efficiency, reducing energy consumption, and improving battery life.

[0062] It should be noted that the forward or reverse rotation of the swing drive 131 can give the chassis body 110 a raised position and a normal position. One of the forward or reverse rotation is clockwise, and the other is counterclockwise; however, this embodiment does not specify a particular rotation method.

[0063] For example, in this embodiment, forward rotation is clockwise rotation, and reverse rotation is counterclockwise rotation. Referring to the direction shown in FIG2, when the swing drive 131 rotates in the reverse direction, the chassis body 110 can reach the raised position. When the swing drive 131 rotates in the forward direction, the chassis body 110 can reach the normal position.

[0064] The "normal position" can refer to a situation where, during the cleaning process of the cleaning device 10, there is a small distance between the chassis structure 100 and the surface to be cleaned, in order to ensure effective suction and improve the cleaning effect. For example, the chassis body 110 can be in the normal position when it descends to the minimum distance between itself and the surface to be cleaned.

[0065] In some examples, the drive wheel 120 of this embodiment can enable the cleaning device 10 to move forward, backward, or turn. Furthermore, under the action of the drive wheel 120, the cleaning device 10 can overcome obstacles on the surface to be cleaned.

[0066] For example, the drive wheel 120 can be powered by the power unit 132 so that the drive wheel 120 can be used to provide driving force for the movement and obstacle crossing of the cleaning device 10.

[0067] In some possible implementations, referring to Figure 1, the chassis body 110 has a first end 110a and a second end 110b along the travel direction X of the chassis body 110. When the chassis body 110 is in the raised position, the distance between at least one of the first end 110a and the second end 110b and the surface to be cleaned increases.

[0068] In this embodiment, the lifting part 1221 can be driven upward by the rotation of the swing drive 131. The lifting part 1221 is located on the bracket 122, and the rotating shaft 123 is disposed on the bracket 122. Therefore, when the lifting part 1221 moves upward, the rotating shaft 123 can also move upward synchronously, thereby causing the chassis body 110 to move in the direction of the lifting position.

[0069] When the chassis body 110 is in the raised position, the distance between at least one of the first end 110a and the second end 110b of the chassis body 110 and the surface to be cleaned increases. This allows the end of the chassis body 110 with the increased distance to the surface to be cleaned to cross over the obstacle and continue cleaning when encountering it. Therefore, the possibility of the cleaning device 10 colliding with an obstacle and retracting, resulting in some areas of the surface to be cleaned remaining uncleaned and affecting the cleaning effect, can be reduced.

[0070] In some examples, the cleaning device 10 may include sensors. The sensors can be used to identify the size of obstacles in the X direction of travel of the cleaning device 10, and raise the chassis body 110 to a corresponding height according to the size of the obstacle, so that the chassis body 110 can have the ability to overcome obstacles.

[0071] In some feasible implementations, referring to Figure 1, the first end 110a is located at the front of the chassis body 110 along the travel direction X of the chassis body 110. When the chassis body 110 is in the raised position, the chassis body 110 is tilted relative to the surface to be cleaned. The distance between the first end 110a and the surface to be cleaned increases, while the distance between the second end 110b and the surface to be cleaned remains unchanged.

[0072] In this embodiment, when the chassis body 110 is in the raised position, the distance between the first end 110a on the front side of the chassis body 110 and the surface to be cleaned increases. At this time, the center of gravity of the chassis body 110 can be closer to the rear side of the chassis body 110, causing the chassis body 110 to tilt backward as a whole, and the chassis body 110 is in an inclined state relative to the surface to be cleaned. This configuration increases the range of the lifting height of the first end 110a on the front side of the chassis body 110, thereby improving the obstacle-crossing ability of the cleaning device 10.

[0073] Furthermore, it is easy to understand that, along the travel direction X of the chassis body 110, the drive wheel 120 can be located in the middle area of ​​the chassis body 110, and the lifting part 1221 can be located on the side closer to the first end 110a. When the lifting part 1221 lifts by a small stroke, the first end 110a on the front side of the chassis body 110 can be lifted by a large stroke. Therefore, with a small driving force, the cleaning device 10 can have a high obstacle-crossing ability.

[0074] In some examples, the chassis structure 100 may also include casters 140. Casters 140 may be located on the side of the chassis body 110 near the second end 110b. Casters 140 provide support for the chassis body 110. When the chassis body 110 is tilted, casters 140 can support the second end 110b of the chassis body 110 to prevent friction between the second end 110b of the chassis body 110 and the surface to be cleaned, thus avoiding potential wear of the chassis body 110.

[0075] In some examples, by setting different rotation angles for the swing drive 131, the first end 110a of the chassis body 110 can be raised or lowered by different distances. The range of the forward or reverse rotation angle of the swing drive 131 is not limited in this embodiment. For example, when the swing drive 131 rotates 60 degrees, the first end 110a of the chassis body 110 can be raised by approximately 20mm to 25mm. The chassis structure 100 provided in this embodiment can have a lifting height of at least 50mm.

[0076] In some possible implementations, referring to FIG2, the roller 121 and the lifting part 1221 of this application embodiment have a distance between them along the travel direction X of the chassis body 110.

[0077] In this embodiment, when the lifting part 1221 is flipped upward by the force of the swing drive 131 (e.g., counterclockwise flipping as shown in Figure 2), the rotating shaft 123 also moves upward synchronously. The rotating shaft 123 can rotate counterclockwise upward relative to the roller 121, so that the chassis body 110 moves in the direction of the lifting position. By setting the roller 121 and the rotating shaft 123 to have a distance in the direction of travel X, the roller 121 and the rotating shaft 123 can form a large motion lever arm. According to the torque formula, when the pushing force of the rotating shaft 123 on the chassis body 110 is constant, when the lever arm is long, the torque is greater, which can drive the chassis body 110 to lift more effectively and improve the lifting efficiency. Alternatively, when the torque is kept constant, when the lever arm is long, the pushing force of the rotating shaft 123 on the chassis body 110 can be set to be smaller, so that the pushing force of the swing drive 131 to drive the lifting part 1221 upward can be smaller, which is beneficial to achieving the effect of saving effort.

[0078] Similarly, when the swing drive 131 rotates in the opposite direction, the lifting part 1221 can be flipped downwards (for example, clockwise as shown in Figure 2), and the rotating shaft 123 can move downwards. The rotating shaft 123 can be flipped downwards clockwise relative to the roller 121, so that the chassis body 110 moves in the direction of normal position. By setting the roller 121 and the rotating shaft 123 to have a distance in the direction of travel X, the roller 121 and the rotating shaft 123 can form a large motion arm to improve lifting efficiency and achieve a labor-saving effect.

[0079] Alternatively, when the chassis body 110 moves from the raised position to the normal position, the swing drive 131 may not have a driving effect on the raised part 1221. For example, when the swing drive 131 rotates in the opposite direction, the swing drive 131 can release the pushing force on the raised part 1221, and at this time, the chassis body 110 can move to the normal position under its own weight.

[0080] In some possible implementations, as shown in Figure 2, the pivot 123 and the lifting part 1221 are spaced apart along the height direction Y of the chassis body 110.

[0081] In this embodiment, the rotating shaft 123 and the lifting part 1221 may have a distance between them along the height direction Y of the chassis body 110. Combined with the aforementioned distance between the roller 121 and the lifting part 1221 along the travel direction X of the chassis body 110, during the lifting or lowering of the chassis body 110, the roller 121, the lifting part 1221, and the rotating shaft 123 can form a stable three-point support, which helps to improve the stability and reliability of the chassis body 110's movement between the raised position and the normal position.

[0082] When the swing drive 131 pushes the lifting part 1221 upward to flip it over, the pushing force of the swing drive 131 on the lifting part 1221 can drive the rotating shaft 123 to move synchronously. Since the roller 121 is held on the surface to be cleaned, the lifting part 1221 and the rotating shaft 123 can move upward relative to the roller 121, and the rotating shaft 123 drives the chassis body 110 to move in the direction of the lifting position. Similarly, when the swing drive 131 releases the force on the lifting part 1221 so that the lifting part 1221 flips downward, the movement of the lifting part 1221 can drive the rotating shaft 123 to move synchronously. Since the roller 121 is held on the surface to be cleaned, the lifting part 1221 and the rotating shaft 123 can move downward relative to the roller 121, and the rotating shaft 123 drives the chassis body 110 to move in the direction of the normal position.

[0083] In some examples, the pivot 123 may be close to the lifting section 1221 along the travel direction X of the chassis body 110.

[0084] In some possible implementations, referring to Figure 3, the oscillating drive 131 has a drive surface 131a facing the roller 121 along the travel direction X of the chassis body 110. The oscillating drive 131 rotates forward to move the lifting portion 1221 toward the roller 121. The oscillating drive 131 drives the chassis body 110 to move in the lifted position. The oscillating drive 131 rotates in the reverse direction to move the lifting portion 1221 away from the roller 121, and the chassis body 110 moves in the normal position.

[0085] In this embodiment of the application, when the swing drive 131 rotates in the forward direction, the swing drive 131 can be connected to the lifting part 1221 through the driving surface 131a to provide the lifting part 1221 with an upward flipping driving force.

[0086] Along the width direction Z of the chassis body 110, the drive assembly 130 and the drive wheel 120 can be arranged side by side. The width direction Z can refer to the direction perpendicular to the travel direction X. Along the width direction Z of the chassis body 110, there is an overlapping area between the swing drive member 131 and the lifting part 1221. Therefore, when the swing drive member 131 swings in a plane parallel to the travel direction X of the chassis body 110, the swing drive member 131 can provide or release a pushing force to the lifting part 1221.

[0087] In some examples, the cleaning device 10 may include two drive wheels 120. The two drive wheels 120 may be respectively disposed on both sides of the chassis body 110 in the width direction Z. The two drive wheels 120 may be synchronously controlled by a single drive assembly 130, or the two drive wheels 120 may be controlled separately by two drive assemblies 130. This is not limited in the embodiments of this application.

[0088] In some possible implementations, referring to FIG3, the swing drive member 131 of this application embodiment has an auxiliary surface 131b. The auxiliary surface 131b forms an angle with the drive surface 131a, and the auxiliary surface 131b and the drive surface 131a form a space to accommodate a portion of the lifting part 1221. When the chassis body 110 moves in the direction of its normal position, the auxiliary surface 131b connects with the lifting part 1221 to assist the chassis body 110 in resetting.

[0089] In this embodiment, the rotation of the swing drive 131 can drive the lifting part 1221 to flip upwards, thereby raising the chassis body 110. When the swing drive 131 rotates in the opposite direction, it releases the pushing force on the lifting part 1221 to flip upwards. On one hand, the chassis body 110 can move downwards to its normal position under its own weight. On the other hand, the auxiliary surface 131b of the swing drive 131 can be connected to the lifting part 1221 and drive it to flip downwards, promoting the chassis body 110 to move towards its normal position, thereby increasing the rate at which the chassis body 110 returns to its normal position.

[0090] It should be noted that when the chassis body 110 moves towards its normal position, it can move downwards mainly due to its own gravity. Therefore, the force of the swing drive 131 rotating in the opposite direction is small, which helps to reduce the energy loss when the chassis body 110 moves from the raised position to the normal position and improves the endurance of the cleaning equipment 10.

[0091] In some examples, the included angle formed by the driving surface 131a and the auxiliary surface 131b can be "V" shaped. The size of the included angle can be set according to the lifting height of the chassis body 110. This application embodiment does not limit the size of the included angle. For example, the included angle between the driving surface 131a and the auxiliary surface 131b can be 45 degrees, 60 degrees, 80 degrees, 110 degrees, etc.

[0092] In some possible implementations, referring to Figures 2 and 3, the drive assembly 130 of this embodiment includes a power unit 132 and a transmission unit 133. One end of the transmission unit 133 is connected to the power unit 132. The other end of the transmission unit 133 is connected to the oscillating drive member 131. The power unit 132 drives the oscillating drive member 131 to rotate forward or backward through the transmission unit 133.

[0093] In this embodiment, the power unit 132 can be used to provide driving force for the forward or reverse rotation of the swing drive 131. The transmission unit 133 can be used to transmit the power provided by the power unit 132 to the swing drive 131, so that the swing drive 131 can rotate in the forward or reverse direction.

[0094] In some examples, the transmission unit 133 may include a drive shaft. The drive shaft may be used to connect to the oscillating drive 131. The drive shaft moves synchronously with the oscillating drive 131. The oscillating drive 131 may rotate about the axial direction of the drive shaft in either the forward or reverse direction.

[0095] In some examples, the chassis structure 100 may also include a Hall encoder. The Hall encoder can be connected to the power unit 132 to control the operating parameters of the power unit 132 (e.g., the number of rotations). The operating parameters of the power unit 132 can directly control the lifting height of the chassis body 110, thereby enabling precise lifting of the chassis body 110 via the Hall encoder. The chassis body 110 can stop at any position between the lifted position and the normal position, achieving stepless adjustment of the chassis body 110.

[0096] In some possible implementations, as shown in Figures 2 and 3, the transmission unit 133 includes a worm gear 1331 and a worm wheel 1332 that move in coordination. The worm gear 1331 is connected to the power unit 132. The worm wheel 1332 is connected to the oscillating drive member 131.

[0097] In this embodiment, the meshing transmission of the worm gear 1332 and worm 1331 has a real-time self-locking feature. When the power unit 132 stops running, the lifting or lowering action of the chassis body 110 can stop and can self-lock in the current position. Therefore, when the chassis body 110 is in the self-locking state, the chassis body 110 remains in the current state, and slippage between the worm gear 1332 and worm 1331 is unlikely to occur.

[0098] Furthermore, the small clearance between the worm gear 1332 and the worm 1331 ensures high transmission precision, enabling high-precision lifting or lowering of the chassis body 110. The meshing transmission between the worm gear 1332 and the worm 1331 exhibits minimal impact and vibration, resulting in high stability, smooth operation, and low noise during transmission. Moreover, the meshing of the worm gear 1332 and the worm 1331 allows for a compact structure of the transmission unit 133, minimizing its space requirements on the chassis body 110. This frees up sufficient space on the chassis body 110 to accommodate other functional modules, enhancing the multi-functionality of the cleaning equipment 10.

[0099] In some examples, the power unit 132 may be, but is not limited to, an electric motor. The power unit 132 can drive the worm gear 1332 to rotate. The worm 1331 can be connected to the oscillating drive 131 via the drive shaft 134. Therefore, the worm gear 1332 and the worm 1331 work together to drive the oscillating drive 131 to rotate.

[0100] In some possible implementations, as shown in Figures 1 and 2, the drive wheel 120 also includes an auxiliary wheel 124. The auxiliary wheel 124 is disposed on the bracket 122. The auxiliary wheel 124 is used to traverse obstacles when the chassis body 110 encounters an obstacle.

[0101] In this embodiment of the application, along the traveling direction X of the chassis body 110, the auxiliary wheel 124 can help the middle area of ​​the chassis body 110 to smoothly cross the obstacle after the first end 110a on the front side of the chassis body 110 crosses the obstacle, so that the second end 110b on the rear side of the chassis body 110 can also cross the obstacle more easily.

[0102] Specifically, when the chassis body 110 encounters an obstacle during its movement, under the action of the swing drive 131, the first end 110a of the chassis body 110 can be raised upwards, allowing the front side of the chassis body 110 to tilt up to a certain height, thus enabling the first end 110a of the front side of the chassis body 110 to smoothly overcome the obstacle. After the front side of the chassis body 110 overcomes the obstacle, the auxiliary wheel 124, through the contact force with the surface to be cleaned or the obstacle, can raise the middle area of ​​the chassis body 110 to a certain height, allowing the middle area of ​​the chassis body 110 to smoothly overcome the obstacle. Then, as the chassis body 110 continues to move, the second end 110b of the rear side of the chassis body 110, under the action of the drive wheel 120 and the auxiliary wheel 124, can drive the omnidirectional wheel 140 to overcome the obstacle, thereby completing the obstacle-crossing of the chassis body 110.

[0103] This application also provides a cleaning device 10, which may include the chassis structure 100 in any of the above embodiments.

[0104] The cleaning device 10 provided in this application embodiment has a chassis body 110 with high obstacle-crossing reliability and high obstacle-crossing accuracy, which is beneficial to improving the stability of the chassis body 110 during the obstacle-crossing process and ensuring cleaning efficiency and cleaning effect.

[0105] In some examples, the cleaning device 10 may also include a roller brush. The roller brush may be positioned on the side of the chassis structure 100 facing the surface to be cleaned. The rotation of the roller brush can collect dirt such as dust and hair from the surface to be cleaned. During obstacle crossing, the lifting of the chassis body 110 during obstacle crossing can prevent the roller brush from rubbing against obstacles, thereby protecting the roller brush and extending its service life.

[0106] The cleaning device 10 may also include a side brush. The side brush can be located on the side of the chassis structure 100. The side brush can be used to clean hard-to-reach areas such as corners. The side brush can effectively agitate and collect dust in the corners, and then the roller brush transports the dirt to the dust box. During obstacle crossing, the lifting of the chassis body 110 makes it less likely for the side brush to rub against obstacles, which helps to reduce the possibility of damage or detachment of the side brush.

[0107] The cleaning device 10 may also include a mop. The mop can be fixed to the side of the chassis structure 100 facing the surface to be cleaned. During obstacle crossing, the lifting of the chassis body 110 prevents the side brush from getting tangled with obstacles, thus ensuring the normal operation of the cleaning device 10.

[0108] This application also provides a cleaning system, which may include a base station and a cleaning device 10. The cleaning device 10 may be placed on the base station.

[0109] The base station can have a charging function. When the cleaning device 10 is placed in the base station, the base station can charge the cleaning device 10.

[0110] The base station can also have a cleaning function. When the cleaning device 10 is placed on the base station, it can clean the roller brush, mop, side brush and other structures on the cleaning device 10.

[0111] It should be noted that the numerical values ​​and ranges involved in this application are approximate values. Due to the influence of the manufacturing process, there may be a certain range of errors, which can be considered negligible by those skilled in the art.

[0112] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0113] In the description of this application, it should be understood that the terms “center,” “length,” “width,” “thickness,” “top,” “bottom,” “upper,” “lower,” “left,” “right,” “front,” “rear,” “vertical,” “horizontal,” “inner,” “outer,” “axial,” and “circumferential” used to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the location or original must have a specific orientation, or a specific construction and operation, and therefore should not be construed as a limitation of this application.

[0114] The devices or elements referred to in the embodiments of this application or implied herein must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of this application. In the description of the embodiments of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0115] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in a sequence other than those illustrated or described herein.

[0116] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0117] The term "multiple" in this article refers to two or more. The term "and / or" in this article 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 alone, A and B simultaneously, or B alone. Furthermore, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects; in formulas, the character " / " indicates a "division" relationship between the preceding and following related objects.

[0118] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application.

[0119] It is understood that, in the embodiments of this application, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

Claims

1. A chassis structure (100), characterized in that, include: Chassis body (110); A drive wheel (120) includes a roller (121) and a bracket (122). The roller (121) is rotatably connected to the bracket (122). The bracket (122) is rotatably connected to the chassis body (110) via a rotating shaft (123). The bracket (122) is provided with a lifting part (1221). A drive assembly (130) is disposed on the chassis body (110). The drive assembly (130) includes a swing drive member (131) connected to the lifting part (1221). The swing drive member (131) rotates in the forward or reverse direction so that the chassis body (110) has a raised position and a normal position, and the chassis body (110) moves between the raised position and the normal position.

2. The chassis structure (100) according to claim 1, characterized in that, Along the travel direction (X) of the chassis body (110), the chassis body (110) has a first end (110a) and a second end (110b); When the chassis body (110) is in the raised position, the distance between at least one of the first end (110a) and the second end (110b) and the surface to be cleaned increases.

3. The chassis structure (100) according to claim 2, characterized in that, Along the travel direction (X) of the chassis body (110), the first end (110a) is located on the front side of the chassis body (110); When the chassis body (110) is in the raised position, the chassis body (110) is tilted relative to the surface to be cleaned, the distance between the first end (110a) and the surface to be cleaned increases, and the distance between the second end (110b) and the surface to be cleaned remains unchanged.

4. The chassis structure (100) according to any one of claims 1 to 3, characterized in that, The roller (121) and the shaft (123) have a distance between them along the travel direction (X) of the chassis body (110).

5. The chassis structure (100) according to claim 4, characterized in that, Along the height direction (Y) of the chassis body (110), the pivot (123) and the lifting part (1221) are spaced apart.

6. The chassis structure (100) according to claim 4, characterized in that, Along the travel direction (X) of the chassis body (110), the swing drive (131) has a drive surface (131a) facing the roller (121), the swing drive (131) rotates in the forward direction to move the lifting part (1221) toward the roller (121), and the swing drive (131) drives the chassis body (110) to move toward the lifting position; The swing drive (131) rotates in the opposite direction to move the lifting part (1221) away from the roller (121), and the chassis body (110) moves towards the normal position.

7. The chassis structure (100) according to claim 6, characterized in that, The swing drive (131) has an auxiliary surface (131b) with an angle between it and the drive surface (131a). The auxiliary surface (131b) and the drive surface (131a) form a space that can accommodate part of the lifting part (1221). The auxiliary surface (131b) is connected to the lifting part (1221) when the chassis body (110) moves in the direction of the normal position to assist the chassis body (110) in resetting.

8. The chassis structure (100) according to claim 4, characterized in that, The drive assembly (130) further includes a power unit (132) and a transmission unit (133). One end of the transmission unit (133) is connected to the power unit (132), and the other end of the transmission unit (133) is connected to the swing drive member (131). The power unit (132) drives the swing drive member (131) to rotate forward or backward through the transmission unit (133).

9. The chassis structure (100) according to claim 8, characterized in that, The transmission unit (133) includes a worm (1331) and a worm wheel (1332) that move together. The worm (1331) is connected to the power unit (132), and the worm wheel (1332) is connected to the oscillating drive (131).

10. The chassis structure (100) according to claim 4, characterized in that, The drive wheel (120) also includes an auxiliary wheel (124), which is disposed on the bracket (122) and is used to pass over obstacles when the chassis body (110) encounters an obstacle.

11. The chassis structure (100) according to claim 8, characterized in that, It also includes a Hall encoder, which is connected to the power unit (132) and is used to control the operating parameters of the power unit (132).

12. A cleaning device (10), characterized in that, Includes the chassis structure (100) as described in any one of claims 1 to 11.

13. A cleaning system, characterized in that, include: Base station; And the cleaning device (10) as described in claim 12, wherein the cleaning device (10) may be placed on the base station.

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