WO2021023048A1

WO2021023048A1 - Cleaning robot chassis structure and cleaning robot

Info

Publication number: WO2021023048A1
Application number: PCT/CN2020/104952
Authority: WO
Inventors: 杨勇; 宫海涛
Original assignee: 深圳市杉川机器人有限公司
Priority date: 2019-08-08
Filing date: 2020-07-27
Publication date: 2021-02-11
Also published as: CN110338714A

Abstract

Provided are a cleaning robot chassis structure (10) and a cleaning robot, comprising a chassis body (11), a sweep cleaning apparatus (12), a driving wheel (13), a driven wheel (14), an adjustment bracket (15), and a drive apparatus (16). The driving wheel (13) is arranged on the chassis body (11). The adjustment bracket (15) is mounted on the chassis body (11), one end of the adjustment bracket (15) is connected to the sweep cleaning apparatus (12), and the other end of the adjustment bracket (15) is connected to the driven wheel (14). The drive apparatus (16) drives the adjustment bracket (15). Under the drive of the drive apparatus (16), the adjustment bracket (15) rotates, causing the chassis structure (10) of the cleaning robot to be switched between an obstacle crossing mode and a sweep cleaning mode. The obstacle crossing mode is a state in which the sweep cleaning apparatus (12) is raised and the driven wheel (14) is grounded; the sweep cleaning mode is a state in which the sweep cleaning apparatus (12) is grounded and the driven wheel (14) is raised. Thus while ensuring cleaning performance, the cleaning robot ensures its capability to cross obstacles.

Description

Chassis structure of cleaning robot and cleaning robot

Cross references to related applications

This application claims the priority of the Chinese patent application with the application number CN201910746552.X and the name "a cleaning robot chassis structure and cleaning robot" submitted to the Chinese Patent Office on August 8, 2019, the entire content of which is incorporated by reference In this application.

Technical field

This application relates to the technical field of cleaning robots, and specifically to a cleaning robot chassis structure and a cleaning robot.

Background technique

Existing sweeping, mopping or scrubbing robots usually have a low disc-shaped structure. Because they work in a home or indoor environment, various sweeping and mopping parts are designed to be very low and need to be close to the ground. Ensure the cleaning effect.

However, the existing sweeping, mopping or scrubbing robots cannot pass through or get stuck when encountering small obstacles such as wires and steps, which reduces the robot's survivability and cleaning area.

Summary of the invention

The present application provides a cleaning robot chassis structure and a cleaning robot. The cleaning robot chassis structure and the cleaning robot can ensure the cleaning effect and the ability to overcome obstacles.

In the first aspect, a cleaning robot chassis structure is provided, including a chassis body, a cleaning device, a driving wheel, a driven wheel, an adjusting bracket, and a driving device;

The driving wheel is arranged on the chassis body;

The adjusting bracket is installed on the chassis body, one end of the adjusting bracket is connected to the cleaning device, and the other end of the adjusting bracket is connected to the driven wheel;

The driving device drives the adjusting bracket;

Among them, under the driving of the driving device, the adjusting bracket rotates, so that the chassis structure of the cleaning robot can be switched between the obstacle crossing mode and the cleaning mode;

The obstacle crossing mode is the state where the cleaning device is lifted and the driven wheel is grounded;

The cleaning mode is a state where the cleaning device is grounded and the driven wheel is raised.

The inventor found that some existing cleaning robots, such as sweeping, mopping or scrubbing robots, in order to ensure a good cleaning effect, usually design the cleaning components to be very low and close to the ground, which increases the gap between the cleaning components and the ground. Contact area, but under this design, it sacrifices the ability to cross obstacles, that is, it cannot pass some obstacles on the ground. At the same time, some existing cleaning robots sacrifice the cleaning effect in order to improve the ability to cross obstacles. The chassis structure of the cleaning robot provided by the present application can ensure the ability to overcome obstacles while ensuring the cleaning effect. To this end, in the above solution, a cleaning robot chassis structure is provided. The cleaning robot chassis structure includes obstacle crossing mode and cleaning mode. Driven by a motor, it can switch between obstacle crossing mode and cleaning mode, and by switching between different modes , To ensure the cleaning effect and the ability to overcome obstacles. When in obstacle crossing mode, the chassis body is supported on the ground by the driving wheel and the driven wheel and can walk. At this time, because the cleaning device is lifted, that is, away from the ground, the chassis body is driven by the driving wheel and the driven wheel. It can overcome small obstacles such as wires or steps to avoid jamming and ensure the smooth walking of the chassis body. When in the cleaning mode, the driven wheel is lifted and the cleaning device is grounded, so that the cleaning device can bear part of the gravity of the chassis structure of the cleaning robot to be pressed against the ground, ensuring the cleaning effect.

In a possible implementation, a first chamber and a second chamber are opened on the bottom surface of the chassis body;

When the cleaning robot chassis structure is in the obstacle-crossing mode, the cleaning device is lifted and accommodated in the first chamber;

When the cleaning robot chassis structure is in the cleaning mode, the driven wheel is lifted and accommodated in the second chamber.

In the above solution, the first chamber is opened on the bottom surface of the chassis body, so that when the cleaning robot chassis structure is in the obstacle crossing mode, the cleaning device is stored in the first chamber to improve the obstacle crossing ability. By opening the second chamber on the bottom surface of the chassis body, when the cleaning robot chassis structure is in the cleaning mode, the driven wheel is accommodated in the second chamber, so that the cleaning device can be close to the ground to ensure the cleaning effect.

Optionally, in a possible implementation manner, the driving device includes a first motor, a driving gear, and a driven gear, the driving gear is fixed to the output shaft of the motor, the driven gear is fixed to the adjusting bracket, the driving gear and the driven gear Meshing

The rotation axis of the driven gear coincides with the rotation axis of the adjusting bracket.

Optionally, in a possible implementation manner, the cleaning device has a rolling brush structure, and the rolling brush structure is rotatably connected to one end of the adjusting bracket.

Optionally, in a possible implementation manner, the cleaning device includes a backplane and a mop, and the mop is provided on the bottom surface of the backplane.

Optionally, in a possible implementation manner, the top surface of the back plate is hinged to one end of the adjusting bracket.

Optionally, in a possible implementation manner, the chassis structure of the cleaning robot further includes a swing arm and an adjustment device;

A rotating shaft is formed at one end of the swing arm, the rotating shaft is rotatably connected to the chassis body, and the other end of the swing arm is connected with the driving wheel;

The adjusting device drives the swing arm to rotate the swing arm relative to the chassis body to change the distance between the chassis body and the ground.

In the above solution, the adjustment device can drive the swing arm to rotate around the rotating shaft, that is, the other end of the swing arm will make an arc movement with the rotating shaft as the center of rotation, that is, the position of the driving wheel relative to the chassis body can be adjusted, thereby adjusting the chassis The distance between the body and the ground. In the cleaning mode, the chassis body can be adjusted to the closest position through the adjusting device, so that the cleaning device can be cleaned close to the ground. In the obstacle crossing mode, the chassis body can be adjusted to be too high so that the chassis body can stay away from the ground to ensure the obstacle crossing ability.

Optionally, in a possible implementation manner, the adjusting device includes a second motor, a first gear, and a second gear, the first gear is fixed on the output shaft of the second motor, and the second gear is fixed on the rotation shaft of the swing arm , The first gear meshes with the second gear.

Optionally, in a possible implementation manner, the cleaning robot chassis structure further includes an elastic member, one end of the elastic member is fixed to the chassis body, and the other end of the elastic member is fixed to the swing arm.

In the above solution, the elastic member is arranged between the chassis body and the swing arm to play the role of elastic compression, ensuring the stable setting of the swing arm relative to the chassis body, that is, ensuring that the driving wheel can be placed between the driving wheel and the ground. It has enough friction to ensure the normal operation of the driving wheel.

Optionally, in a possible implementation manner, the cleaning device is located between the driving wheel and the driven wheel.

In a second aspect, a cleaning robot is provided, and the cleaning robot has the chassis structure of any one of the cleaning robots in the first aspect.

Description of the drawings

In order to more clearly describe the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative work.

FIG. 1 is a perspective view of a chassis structure of a cleaning robot in an embodiment of the application;

2 is a perspective view of the cleaning device, the driven wheel, the adjusting bracket and the driving device in the embodiment of the application;

3 is a bottom view of the chassis structure of the cleaning robot in the embodiment of the application;

4 is a side view of the chassis structure of the cleaning robot in the embodiment of the application;

FIG. 5 is a schematic diagram of the structure of the adjusting device and the swing arm in the embodiment of the application;

Fig. 6 is a schematic structural diagram of another cleaning device in an embodiment of the application.

Icon: 10-Cleaning robot chassis structure; 10A-rotation axis; 11-chassis body; 12-cleaning device; 13-driving wheel; 14-driven wheel; 15-adjusting bracket; 16-driving device; 17-swing arm; 18 -Adjusting device; 19-Elastic element; 91-First chamber; 92-Second chamber; 120-Back plate; 121-Mop; 150-Wing rod; 160-First motor; 161-Drive gear; 162- Driven gear; 170-rotation shaft; 180-second motor; 181-first gear; 182-second gear.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various different configurations.

Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of this application.

It should be noted that similar reference numerals and letters indicate similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

In the description of the embodiments of this application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner" or "outer" The orientation or positional relationship indicated by "" is based on the orientation or positional relationship shown in the drawings, or is the orientation or positional relationship that is habitually placed when the application product is used, or is the orientation or positional relationship commonly understood by those skilled in the art, It is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or must be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the application.

In addition, the terms "first" or "second" are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connected" or "connected" should be interpreted broadly, for example, it may be fixed The connection may also be a detachable connection or an integral connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be a communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood under specific circumstances.

It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other if there is no conflict.

The technical solution in this application will be described below in conjunction with the drawings.

This embodiment provides a cleaning robot chassis structure 10, and a cleaning robot (such as a sweeping, mopping or scrubbing robot, etc.) having the cleaning robot chassis 10 can ensure the cleaning effect and the ability to overcome obstacles.

The cleaning robot chassis structure 10 includes a chassis body 11, a cleaning device 12, a driving wheel 13, a driven wheel 14, an adjusting bracket 15 and a driving device 16.

Please refer to Figures 1 to 4. Figure 1 shows a three-dimensional schematic view of the cleaning robot chassis structure 10, Figure 2 shows a three-dimensional schematic view of the cleaning device 12, the driven wheel 14, the adjustment bracket 15, and the driving device 16, and Figure 3 is A bottom view of the cleaning robot chassis structure 10 in the embodiment, and FIG. 4 is a side view of the cleaning robot chassis structure 10 in this embodiment.

The driving wheel 13 is arranged on the chassis body 11. The adjusting bracket 15 is installed on the chassis body 11, one end of the adjusting bracket 15 is connected to the cleaning device 12, and the other end of the adjusting bracket 15 is connected to the driven wheel 14. The driving device 16 drives the adjusting bracket 15.

Wherein, under the driving of the driving device 16, the adjusting bracket 15 rotates, so that the cleaning robot chassis structure 10 can switch between the obstacle crossing mode and the cleaning mode.

The obstacle crossing mode is a state where the cleaning device 12 is lifted and the driven wheel 14 is grounded;

The cleaning mode is a state where the cleaning device 12 is grounded and the driven wheel 14 is raised.

The inventor found that some existing cleaning robots, such as sweeping, mopping or scrubbing robots, in order to ensure a good cleaning effect, usually design the cleaning components to be very low and close to the ground, which increases the gap between the cleaning components and the ground. Contact area, but under this design, it sacrifices the ability to cross obstacles, that is, it cannot pass some obstacles on the ground. At the same time, some existing cleaning robots sacrifice the cleaning effect in order to improve the ability to cross obstacles. To this end, in the above solution, a cleaning robot chassis structure 10 is provided. The cleaning robot chassis structure 10 includes an obstacle crossing mode and a cleaning mode. Driven by a motor, it can switch between the obstacle crossing mode and the cleaning mode. Switch down to ensure the cleaning effect and the ability to overcome obstacles. When in the obstacle crossing mode, the chassis body 11 is supported on the ground by the driving wheels 13 and the driven wheels 14 and can walk. At this time, because the cleaning device 12 is lifted, that is, away from the ground, the chassis body 11 is on the driving wheels 13 Driven by the driven wheel 14, it can overcome small obstacles such as wires or steps, avoid jamming, and ensure the smooth running of the chassis body 11. When in the cleaning mode, the driven wheel 14 is raised and the cleaning device 12 is grounded, so that the cleaning device 12 can bear part of the gravity of the cleaning robot chassis structure 10 to be pressed against the ground, ensuring the cleaning effect.

It should be noted that, in this embodiment, the cleaning device 12 is located between the driving wheel 13 and the driven wheel 14, and the center of gravity of the chassis body 11 is located between the driving wheel 13 and the adjusting bracket 15, so that in the cleaning mode, the chassis Most of the weight of the body 11 can act on the cleaning device 12, thereby ensuring the cleaning effect of the cleaning device 12.

Optionally, in a possible implementation manner, FIG. 1, FIG. 3, and FIG. 4 are combined. The bottom surface of the chassis body 11 is provided with a first chamber 91 and a second chamber 92.

When the cleaning robot chassis structure 10 is in the obstacle crossing mode, the cleaning device 12 is lifted and accommodated in the first chamber 91.

When the cleaning robot chassis structure 10 is in the cleaning mode, the driven wheel 14 is lifted and accommodated in the second chamber 92.

Wherein, by opening the first chamber 91 on the bottom surface of the chassis body 11, when the cleaning robot chassis structure 10 is in the obstacle crossing mode, the cleaning device 12 is stored in the first chamber 91 to improve the obstacle crossing ability. By opening the second chamber 92 on the bottom surface of the chassis body 11, when the cleaning robot chassis structure 10 is in the cleaning mode, the driven wheel 14 is stored in the second chamber 92, so that the cleaning device 12 can be close to the ground to ensure cleanliness effect.

Among them, it should be noted that in this embodiment, the adjusting bracket 15 is built in between the first chamber 91 and the second chamber 92, and the adjusting bracket 15 is hinged to the inside of the chassis body 11 and rotates around an axis. The axis of rotation is indicated by the axis of rotation 10A in FIGS. 2 and 4.

Optionally, in a possible implementation manner, referring to FIG. 2, the driving device 16 includes a first motor 160, a driving gear 161, and a driven gear 162. The driving gear 161 is fixed to the output shaft of the motor, and the driven gear 162 is fixed to the adjusting bracket 15, and the driving gear 161 meshes with the driven gear 162.

The rotation axis of the driven gear 162 coincides with the rotation axis of the adjusting bracket 15.

The first motor 160 is located inside the chassis body 11. The first motor 160 drives the driven gear 162 fixed on the adjusting bracket 15 through the driving gear 161, because the rotation axis of the driven gear 162 coincides with the rotation axis 10A of the adjusting bracket 15 , So that when the driven gear 162 rotates (ie, the forward or reverse rotation of the first motor 160 drives the forward or reverse rotation of the driven gear 162), the adjustment bracket 15 can follow the rotation, thereby switching the cleaning robot chassis structure 10 working modes (ie, obstacle crossing mode and cleaning mode).

It should be noted that, in this embodiment, the transmission structure between the first motor 160 and the adjustment bracket 15 is a gear structure transmission. In other specific embodiments, the transmission can also be carried out by a belt transmission structure, for example: the first motor 160 A pulley is fixed, the adjustment bracket 15 is also fixed with a pulley, and the rotation axis of the pulley on the adjustment bracket 15 coincides with the rotation axis of the adjustment bracket 15, the pulley on the first motor 160 passes through the belt and the adjustment bracket 15 The wheels are matched, so that the first motor 160 can drive the adjusting bracket 15 to rotate through the belt transmission structure, thereby switching the working mode of the cleaning robot chassis structure 10.

Optionally, in a possible implementation manner, the cleaning robot chassis structure 10 further includes a swing arm 17 and an adjustment device 18. Please refer to FIG. 1 and FIG. 5. FIG. 5 shows the specific structure of the adjusting device 18 and the swing arm 17 in this embodiment.

A rotating shaft 170 is formed at one end of the swing arm 17, the rotating shaft 170 is rotatably connected to the chassis body 11, and the other end of the swing arm 17 is connected to the driving wheel 13.

The adjustment device 18 drives the swing arm 17 to rotate the swing arm 17 relative to the chassis body 11 to change the distance between the chassis body 11 and the ground.

Among them, the adjusting device 18 can drive the swing arm 17 to rotate around the rotating shaft 170, that is, the other end of the swing arm 17 will move in an arc with the rotating shaft 170 as the center of rotation, that is, the position of the driving wheel 13 relative to the chassis body 11 can be adjusted , Thereby adjusting the distance between the chassis body 11 and the ground. In the cleaning mode, the chassis body 11 can be adjusted to the closest position by the adjusting device 18, so that the cleaning device 12 can be cleaned close to the ground. In the obstacle crossing mode, the chassis body 11 can be too high through the adjusting device 18 so that the chassis body 11 can be far away from the ground to ensure the obstacle crossing ability.

It should be noted that, in this embodiment, the driving wheel 13 may be a direct drive structure of an in-wheel motor. It has a built-in motor and a shell as a wheel. It is installed on the swing arm 17 through a fixed non-rotating axle, so that the driving wheel 13 can make the cleaning robot chassis structure 10 walk. At the same time, a battery can be placed in the chassis body 11, which is the driving wheel 13. The work, the regulating device 18 and the driving device 16 need to be powered by energy-using organizations. It should be noted that, in other specific embodiments, a motor may also be provided on the swing arm 17 to drive the driving wheel 13 to rotate through a transmission mechanism.

It should be noted that in other specific embodiments, the swing arm 17 and the adjusting device 18 may not be provided.

Optionally, in a possible implementation, as shown in FIG. 5, the adjusting device 18 includes a second motor 180, a first gear 181, and a second gear 182. The first gear 181 is fixed to the output shaft of the second motor 180. , The second gear 182 is fixed on the rotating shaft 170 of the swing arm 17, and the first gear 181 meshes with the second gear 182.

The second motor 180 is located inside the chassis body 11, and the second motor 180 drives the second gear 182 fixed on the rotating shaft 170 on the swing arm 17 through the first gear 181, so that when the second gear 182 rotates (ie, the first The forward or reverse rotation of the second motor 180 drives the forward or reverse rotation of the second gear 182, which can make the swing arm 17 follow the rotation, thereby changing the ground clearance of the cleaning robot chassis structure 10 (ie, the bottom surface of the chassis body 11 and The distance between the ground).

It should be noted that in this embodiment, the transmission structure between the second motor 180 and the swing arm 17 is a gear structure transmission. In other specific embodiments, the transmission can also be carried out by a belt transmission structure, for example: the second motor 180 A pulley is fixed. The rotating shaft 170 of the swing arm 17 is also fixed with a pulley. The pulley on the second motor 180 cooperates with the pulley of the swing arm 17 through a belt, so that the second motor 180 can drive the pendulum through the belt transmission structure. One end of the arm 17 rotates, thereby changing the ground clearance of the cleaning robot chassis structure 10.

Optionally, in a possible implementation, as shown in FIG. 1, the cleaning robot chassis structure 10 further includes an elastic member 19, one end of the elastic member 19 is fixed to the chassis body 11, and the other end of the elastic member 19 is fixed to the swing arm 17.

Among them, by providing an elastic member 19 between the chassis body 11 and the swing arm 17, it acts as an elastic compaction to ensure the stable arrangement of the swing arm 17 relative to the chassis body 11, that is, to ensure that the driving wheel 13 can There is sufficient friction with the ground to ensure the normal operation of the driving wheel 13.

It should be noted that the cleaning device 12 in this embodiment is of a roller brush structure. Through the function of the roller brush structure, the cleaning robot chassis structure 10 provided in this embodiment can have the function of cleaning the ground. As shown in Figure 1 and Figure 2. The roller brush structure is rotatably connected to one end of the adjusting bracket 15. Among them, in order to facilitate the installation of the rolling brush structure, two side wing rods 150 extend from one end of the adjusting bracket 15, and the two side wing rods 150 are rotatably connected with both ends of the rolling brush structure.

In other specific embodiments, the cleaning device 12 may further include a back plate 120 and a mop 121, and the mop 121 is added with water to moisten, so that the cleaning robot chassis structure 10 provided in this embodiment can have the function of mopping the ground. Please refer to FIG. 6, which shows the specific structure of another cleaning device 12. The mop 121 is arranged on the bottom surface of the back plate 120, and the top surface of the back plate 120 is hinged to one end of the adjusting bracket 15. Wherein, to ensure that the mop 121 can be pressed against the ground, the end of the adjusting bracket 15 connected to the back plate 120 is inclined to the end connected to the driven wheel 14. At the same time, because the back plate 120 is hinged to the adjusting bracket 15, the mop 121 can adapt to slightly undulating ground. At the same time, due to the hinged structure, when the back plate 120 and the mop 121 are stored in the obstacle crossing mode, It is ensured to be parallel to the ground as much as possible, thereby reducing the occupation of the internal space of the chassis body 11 and reducing the probability of contact with obstacles on the ground.

At the same time, this embodiment also provides a cleaning robot. The cleaning robot has the cleaning robot chassis structure 10 provided above. Due to the cleaning robot chassis structure 10, the cleaning robot can ensure the cleaning effect and the ability to overcome obstacles. .

It should be noted that when the cleaning robot is working, due to the cleaning robot chassis structure 10, the ground clearance can be adjusted and the cleaning device 12 can be close to the ground, which can effectively increase the cleaning range, such as low bed bottoms or The bottom of the sofa, etc., at the same time, because the ground clearance can be adjusted. Therefore, it has a good escape ability and can pass most obstacles on the ground, such as wires, steps, etc.

The above descriptions are only preferred embodiments of the application, and are not used to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement and improvement made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

A cleaning robot chassis structure, which is characterized by comprising a chassis body, a cleaning device, a driving wheel, a driven wheel, an adjusting bracket, and a driving device;

The driving wheel is arranged on the chassis body;

The adjustment bracket is installed on the chassis body, one end of the adjustment bracket is connected to the cleaning device, and the other end of the adjustment bracket is connected to the driven wheel;

The driving device drives the adjusting bracket;

Wherein, under the driving of the driving device, the adjusting bracket rotates, so that the chassis structure of the cleaning robot can switch between the obstacle crossing mode and the cleaning mode;

The obstacle crossing mode is a state in which the cleaning device is raised and the driven wheel is grounded;

The cleaning mode is a state where the cleaning device is grounded and the driven wheel is raised.
The cleaning robot chassis structure according to claim 1, characterized in that:

The bottom surface of the chassis body is provided with a first chamber and a second chamber;

When the cleaning robot chassis structure is in the obstacle crossing mode, the cleaning device is lifted and accommodated in the first chamber;

When the cleaning robot chassis structure is in the cleaning mode, the driven wheel is lifted and accommodated in the second chamber.
The cleaning robot chassis structure according to claim 1, characterized in that:

The driving device includes a first motor, a driving gear, and a driven gear. The driving gear is fixed to the output shaft of the motor, the driven gear is fixed to the adjusting bracket, and the driving gear is connected to the driven gear. Gear mesh

The rotation axis of the driven gear coincides with the rotation axis of the adjustment bracket.
The cleaning robot chassis structure according to claim 1, characterized in that:

The cleaning device is a rolling brush structure, and the rolling brush structure is rotatably connected to one end of the adjusting bracket.
The cleaning robot chassis structure according to claim 1, characterized in that:

The cleaning device includes a back plate and a mop, and the mop is arranged on the bottom surface of the back plate.
The cleaning robot chassis structure according to claim 5, wherein:

The top surface of the back plate is hinged with one end of the adjusting bracket.
The cleaning robot chassis structure according to claim 1, wherein the cleaning robot chassis structure further comprises a swing arm and an adjusting device;

A rotating shaft is formed at one end of the swing arm, the rotating shaft is rotatably connected to the chassis body, and the other end of the swing arm is connected to the driving wheel;

The adjusting device drives the swing arm so that the swing arm rotates relative to the chassis body to change the distance between the chassis body and the ground.
The cleaning robot chassis structure according to claim 7, wherein:

The adjusting device includes a second motor, a first gear, and a second gear. The first gear is fixed on the output shaft of the second motor, and the second gear is fixed on the rotating shaft of the swing arm. The first gear meshes with the second gear.
The cleaning robot chassis structure according to claim 7, wherein:

The cleaning robot chassis structure further includes an elastic member, one end of the elastic member is fixed to the chassis body, and the other end of the elastic member is fixed to the swing arm.
The cleaning robot chassis structure according to claim 1, characterized in that:

The cleaning device is located between the driving wheel and the driven wheel.
A cleaning robot is characterized by comprising:

The cleaning robot has the cleaning robot chassis structure according to any one of claims 1-10.