CN114424912B

CN114424912B - cleaning robot

Info

Publication number: CN114424912B
Application number: CN202210156463.1A
Authority: CN
Inventors: 李振; 王维; 邹强斌; 秦宝星; 程昊天
Original assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Current assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Priority date: 2022-02-21
Filing date: 2022-02-21
Publication date: 2023-08-29
Anticipated expiration: 2042-02-21
Also published as: CN114424912A

Abstract

The invention belongs to the field of cleaning equipment, and discloses a cleaning robot which comprises a chassis, a traveling wheel set and a locking assembly. The travelling wheel set comprises travelling wheels and an installation frame assembly, and the travelling wheels can move towards a direction close to or far away from the chassis under the control of the installation frame assembly; the locking component is positioned at the front side of the walking wheel set in the advancing direction of the cleaning robot and is provided with a locking state and an unlocking state; when the locking component is in a locking state, the travelling wheel cannot move in a direction approaching or separating from the chassis; when the locking component is in an unlocking state, the travelling wheel moves in a direction approaching or separating from the chassis. Through the arrangement of the locking component, the walking capability of the cleaning robot adapting to different road conditions is ensured, and meanwhile, the nodding phenomenon of the cleaning robot on flat road conditions is reduced or even avoided; the walking stability is improved, the size of the walking wheel is further reduced, the remaining space of the chassis is further increased, and more cleaning modules can be arranged under the condition that the size of the chassis is not increased.

Description

Cleaning robot

Technical Field

The invention relates to the field of cleaning equipment, in particular to a cleaning robot.

Background

In semi-open occasions such as commercial supermarkets, hospitals, parks, communities and the like, the mobile cleaning robot is gradually used for replacing manual ground cleaning and washing work. Along with expansion of application scenes and improvement of complexity of use environments, requirements for the cleaning robot to adapt to changeable ground are higher and higher.

In the existing cleaning robot, the travelling wheels are mostly connected to the chassis through the elastic piece, so that when the road conditions with the irregularities are met, the travelling wheels float up and down relative to the chassis, so that the cleaning robot can smoothly pass through the chassis, and the cleaning robot can adapt to various surfaces to be cleaned.

However, the mounting mode that the travelling wheels float up and down on the chassis has some problems: the cleaning robot has large weight, and the installation mode of floating the travelling wheels up and down ensures that the cleaning robot is easy to generate a nodding phenomenon (namely, swaying up and down, left and right and/or back and forth and tilting) when walking on a flat surface to be cleaned, thereby influencing the cleaning effect and the service life, namely, the cleaning robot has contradiction between the walking adaptability (namely, the adaptability to various surfaces to be cleaned) and the walking stability. Further, in order to avoid the cleaning robot from toppling over due to the nodding phenomenon, the running stability of the cleaning robot is ensured, the size of the running wheels cannot be too small in the existing industry, or at least four running wheels (two of the running wheels are driving wheels, the two driving wheels are arranged in the middle of the chassis, and the other two running wheels are arranged at the front end and the rear end of the chassis) are required to be arranged at the bottom of the chassis, but the running wheels occupy a larger space at the bottom of the chassis, the arrangement of each part is influenced, and the size of the chassis (even the size of the whole robot) and the diversity of the functional modules cannot be considered.

Disclosure of Invention

The invention aims to provide a cleaning robot which can achieve both walking adaptability (namely adaptability to various surfaces to be cleaned) and walking stability and also achieve the size and functional module diversity of the cleaning robot.

In order to achieve the above object, the following technical scheme is provided:

a cleaning robot comprising:

a chassis;

the walking wheel set comprises walking wheels and a mounting frame assembly, and the walking wheels can move towards a direction approaching or away from the chassis under the control of the mounting frame assembly;

the locking assembly is positioned at the front side of the walking wheel set in the advancing direction of the cleaning robot and is provided with a locking state and an unlocking state; when the locking assembly is in the locking state, the travelling wheel cannot move in a direction approaching or separating from the chassis; when the locking assembly is in the unlocking state, the travelling wheel can move in a direction approaching or separating from the chassis.

As an alternative of the cleaning robot of the present invention, further comprising a transfer frame, through which the traveling wheel set and/or the locking assembly are mounted at the lower side of the chassis; the walking wheel is rotatably arranged on the mounting frame assembly.

As an alternative to the cleaning robot of the present invention, the mounting frame assembly includes a mounting frame and a first elastic member, and the mounting frame is rotatably disposed on the adapter frame by the first elastic member.

As an alternative to the cleaning robot of the present invention, the locking assembly includes a locking member and a second elastic member, the locking member being rotatably disposed on the adapter frame by the second elastic member;

when the locking piece is impacted, the locking piece rotates against the acting force of the second elastic piece to be in an unlocking state.

As an alternative of the cleaning robot of the present invention, the traveling wheel set and the locking assembly are both disposed on the transfer frame;

the adapter bracket is provided with a first shaft hole and a second shaft hole which are parallel, the first shaft hole is penetrated with a first rotating shaft, the locking piece is installed on the first rotating shaft, the second shaft hole is penetrated with a second rotating shaft, and the installation bracket is installed on the second rotating shaft.

As an alternative to the cleaning robot of the present invention, the locking member includes:

the triggering part is positioned in the direction away from the chassis and is rotatably arranged on the switching frame through the second elastic piece;

and the locking part is linked with the triggering part, and limits the rotation of the mounting frame when the locking assembly is in the locking state.

As an alternative of the cleaning robot of the present invention, the locking part includes a protrusion, and the mounting frame is provided with a first notch;

the protrusion is placed in the first notch when the locking assembly is in the locked state; the projection is disengaged from the first notch when the locking assembly is in the unlocked state.

As an alternative scheme of the cleaning robot, the triggering part is provided with the avoiding part, and the avoiding part is used for avoiding the walking wheel set when the triggering part is triggered to rotate.

As an alternative of the cleaning robot of the present invention, the mounting frame always has a tendency to drive the travelling wheel to move in a direction away from the chassis under the action of the first elastic member.

As an alternative scheme of the cleaning robot, the mounting frame comprises a connecting arm and a cantilever, the travelling wheel is rotatably mounted on the connecting arm, the cantilever is arranged on the connecting arm, one end of the first elastic piece is fixed, and the other end of the first elastic piece is connected with the cantilever.

As an alternative of the cleaning robot of the present invention, the cleaning robot further includes two driving wheels, and the two driving wheels are symmetrically disposed at both sides of the chassis; setting a connecting line of the centers of the two driving wheels as a first connecting line;

the traveling wheel set is positioned at the front side of the advancing direction of the cleaning robot and is positioned on a second connecting line, and the second connecting line is perpendicular to the first connecting line and passes through the midpoint of the first connecting line.

As an alternative to the cleaning robot of the present invention, the cleaning robot further includes a support wheel set located at a rear side of the advancing direction of the cleaning robot and located on the second link;

the running wheel set is closer to the first connecting line than the supporting wheel set.

The beneficial effects of the invention are as follows:

in the cleaning robot provided by the invention, when the cleaning robot walks on the flat surface to be cleaned, the locking component is in a locking state, under the action of the locking component, the mounting frame component can not drive the walking wheel to move in a direction close to or far away from the chassis, namely, the walking wheel can not float up and down relative to the chassis, the walking wheel is in rigid and effective contact with the surface to be cleaned, and the walking wheel group always has great pressure on the surface to be cleaned so as to reversely support the whole cleaning robot, so that the cleaning robot walks more stably, the nodding phenomenon (namely, up and down, left and right and/or front and back shaking and tilting) of the cleaning robot in the walking process is effectively reduced or even avoided, the cleaning effect is further ensured, and the service life is prolonged, and the cleaning robot is especially suitable for cleaning robots with large weight or large height. When the cleaning robot walks or climbs on the rugged surface to be cleaned and ascends the ridge, the locking assembly is in an unlocking state, the mounting frame assembly controls the travelling wheels to move in a direction close to or far away from the chassis, and the cleaning robot smoothly passes through the rugged surface to be cleaned or climbs and passes the ridge through the travelling wheels to float up and down relative to the chassis. Further, due to the improvement of the walking stability of the cleaning robot on the flat surface to be cleaned, the size of the walking wheel is further reduced, so that the remaining space of the chassis is larger, more cleaning modules can be arranged under the condition that the size of the chassis is not increased, functions and application range of the cleaning robot are enriched, and the size and the functional module diversity of the cleaning robot are considered.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments of the present invention, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the contents of the embodiments of the present invention and these drawings without inventive effort for those skilled in the art.

FIG. 1 is a schematic diagram showing the installation of a running wheel set, a locking assembly and a driving wheel on a chassis according to an embodiment of the present invention;

FIG. 2 is a second schematic diagram of the installation of the running wheel set, the locking assembly and the driving wheels on the chassis according to the embodiment of the present invention;

FIG. 3 is a schematic diagram showing the relative positions of a traveling wheel set, a supporting wheel set and two driving wheels according to an embodiment of the present invention;

FIG. 4 is a schematic illustration I of a running wheel set and locking assembly according to an embodiment of the present invention;

FIG. 5 is a second schematic view of a running wheel set and a locking assembly according to an embodiment of the present invention;

FIG. 6 is a schematic diagram III of a running wheel set and locking assembly according to an embodiment of the present invention;

FIG. 7 is a schematic view of a locking assembly according to an embodiment of the present invention;

FIG. 8 is a schematic view of a mounting bracket and locking member provided in an embodiment of the present invention;

FIG. 9 is a schematic diagram of a running wheel set according to an embodiment of the present invention;

FIG. 10 is a schematic view of a mounting frame according to an embodiment of the present invention;

FIG. 11 is a second schematic view of a mounting rack according to an embodiment of the present invention;

FIG. 12 is a schematic view of an adapter rack according to an embodiment of the present invention;

fig. 13 is a schematic view of another walking wheel set and locking assembly according to an embodiment of the present invention.

Reference numerals:

l1, a first connection; l2, a second connection; p, projection plane; D. projecting;

1. a chassis; 2. a walking wheel set; 3. a locking assembly; 4. a transfer frame; 5. a connecting plate; 6. a driving wheel; 7. a support wheel set; 8. a connecting shaft; 9. a bearing;

11. a first chassis section; 12. a second chassis section;

21. a walking wheel; 22. a mounting bracket assembly;

221. a mounting frame; 222. a first elastic member;

2211. a first connecting arm; 2212. a second connecting arm; 2213. a cantilever; 2214. a second rotating shaft;

2211a, a first notch; 2211b, a second connection hole;

31. a locking member; 32. a second elastic member;

311. a trigger part; 312. a locking part;

3111. a first rotating shaft; 3112. a first rotating part; 3113. triggering the body;

3112a, first connection aperture; 3113a, avoidance;

41. a first shaft hole; 42. a second shaft hole; 43. and (5) mounting holes.

Detailed Description

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention more clear, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 to 6, the present embodiment provides a cleaning robot including a chassis 1, a traveling wheel set 2, and a locking assembly 3. The chassis 1 is a flat plate or a nearly flat plate-like support carrier for the cleaning robot, and a plurality of cleaning modules, various electric devices, and the like are provided on the chassis 1. The bottom side of the chassis 1 is optionally provided with an edge brush module, a rolling brush module, a water absorption scraping module, a battery, various sensors and the like; the upper side of the chassis 1 is optionally provided with a water tank, an electric appliance module and the like. The walking wheel set 2 and the locking component 3 are arranged at the bottom side of the chassis 1. The running wheel set 2 comprises running wheels 21 and a mounting frame assembly 22. The road wheels 21 are movable in a direction towards or away from the chassis 1 under the control of the mounting frame assembly 22. The locking assembly 3 is located at the front side of the running gear set 2 in the forward direction of the cleaning robot. The locking assembly 3 can be connected to the mounting frame assembly 22. The locking assembly 3 has a locked state and an unlocked state. When the locking assembly 3 is in the locked state, the locking assembly 3 is connected with the mounting frame assembly 22, and the traveling wheel 21 cannot move in a direction approaching or moving away from the chassis 1. When the locking assembly 3 is in the unlocked state, the road wheels 21 can be moved in a direction approaching or moving away from the chassis 1.

Specifically, when the cleaning robot walks on the flat surface to be cleaned, the locking assembly 3 is in a locking state, under the action of the locking assembly 3, the mounting frame assembly 22 cannot drive the travelling wheel 21 to move in a direction close to or far away from the chassis 1, namely, the travelling wheel 21 cannot float up and down relative to the chassis 1, the travelling wheel 21 and the surface to be cleaned are in rigid effective contact, the travelling wheel set 2 always has great pressure to reversely support the whole cleaning robot on the surface to be cleaned, so that the cleaning robot walks more stably, the phenomenon of nodding (namely, up-down, left-right and/or front-back shaking and tilting) of the cleaning robot in the walking process is effectively reduced or even avoided, the cleaning effect is further ensured, and the cleaning robot is prolonged in service life and is particularly suitable for cleaning robots with large weight or large height. When the cleaning robot walks or climbs on the rugged surface to be cleaned and ascends on the ridge, the locking assembly 3 is in an unlocking state, the mounting frame assembly 22 controls the travelling wheel 21 to move towards the direction close to or far away from the chassis 1, and the cleaning robot smoothly passes through the rugged surface to be cleaned or smoothly climbs on the ridge and passes through the ridge by the travelling wheel 21 floating up and down relative to the chassis 1.

By arranging the locking component 3, the locking component 3 is in a locking state when on a flat surface to be cleaned, so that stable walking of the cleaning robot is ensured, the locking component 3 is in an unlocking state when the surface to be cleaned is uneven, or climbs and passes over a ridge, and the walking wheel set 2 floats up and down relative to the chassis 1, so that the cleaning robot can smoothly pass through; the cleaning robot has the advantages that the cleaning robot is guaranteed to adapt to walking capacities of different road conditions, meanwhile, the phenomenon that the cleaning robot nods on flat road conditions is reduced or even avoided, the walking capacity of the cleaning robot is high, the cleaning effect is good, the service life is long, and the walking adaptability (namely, the adaptability to various surfaces to be cleaned) and the walking stability of the cleaning robot are both considered.

In the present embodiment, the lock assembly 3 achieves switching from the locked state to the unlocked state by the striking of the surface to be cleaned during the traveling of the cleaning robot. Specifically, when the surface to be cleaned is a flat road surface, the bottom of the locking assembly 3 is separated from the surface to be cleaned and is in a locked state. When the cleaning robot walks on the rugged surface to be cleaned, climbs a slope or climbs a bank, the bottom of the locking assembly 3 is impacted by the surface to be cleaned (mainly the surface to be cleaned, the slope or the bank of the convex part) to be triggered, and the locking state is converted into the unlocking state. When the cleaning robot smoothly passes over the rugged surface to be cleaned or finishes climbing and boarding, the bottom of the locking assembly 3 is separated from the surface to be cleaned again and is switched from the unlocking state to the locking state. Obviously, in other embodiments, the locking assembly 3 may be triggered manually or electrically to switch between the locked and unlocked states according to the road condition of the surface to be cleaned.

As shown in fig. 1-3, two driving wheels 6 are further arranged at the bottom of the chassis 1, and the two driving wheels 6 are symmetrically arranged at two sides of the chassis 1. The two driving wheels 6 are conventional common arrangements in cleaning robots, and the specific structure is not described again. The travelling wheel set 2 supports the entire cleaning robot together with two driving wheels 6. The advancing direction of the cleaning robot is indicated by an arrow in fig. 3.

It will be appreciated that, due to the improved walking stability of the cleaning robot on the flat surface to be cleaned, this allows for a further reduction in the size of the walking wheel 21 and the driving wheel 6, and thus a larger remaining space of the chassis 1, enabling more cleaning modules to be arranged without increasing the size of the chassis 1, enriching the functions and the range of use of the cleaning robot, i.e. giving consideration to both the size and the functional module diversity of the cleaning robot. Taking a ridge with the height of 20mm as an example, the conventional wheel diameter of about 62mm (2 inches) is required to smoothly pass through, if the walking wheel set 2 of the embodiment is adopted, the obstacle can be smoothly passed through only by the wheel diameter of 38mm (1.5 inches) or even smaller, and the space of the chassis 1 is greatly saved. In addition, the reduced size of the running wheel set 2 also results in a reduced turning radius of the cleaning robot, more advantageous in-situ steering, and the ability to clean narrower corners.

It can be further understood that the larger the size of the triangle formed by the connection of the traveling wheel set 2 and the two driving wheels 6, the more effectively the traveling wheel set 2 and the two driving wheels 6 can support the cleaning robot, and the better the traveling stability of the cleaning robot. Meanwhile, based on the upper analysis, the dimensions of the traveling wheel 21 and the driving wheel 6 of the present embodiment can be smaller without reducing the traveling stability of the cleaning robot, so that the scheme in which the traveling wheel 21 is disposed at the front end of the chassis 1 as much as possible can be implemented, thereby enabling the dimension of the triangle to be as large as possible (in the case where the positions of the two driving wheels 6 are unchanged), and the traveling stability of the cleaning robot is further improved.

In this embodiment, the chassis 1 comprises a first chassis part 11 and a second chassis part 12 connected. The first chassis part 11 is connected to the front end of the second chassis part 12. The first chassis part 11 is arranged upwardly with respect to the second chassis part 12 such that the first chassis part 11 is at a greater distance from the surface to be cleaned. The bottom surface of the first chassis part 11 is mainly used for providing a suction rake assembly (not shown). The running wheel set 2 and the two driving wheels 6 are both arranged on the second chassis part 12. The running gear set 2 is located at the front end of the second chassis part 12. In other embodiments, the running gear set 2 may be provided at the foremost end of the entire chassis 1.

Alternatively, a line connecting centers of the two drive wheels 6 is set as the first line L1. The walking wheel set 2 is located on a second connecting line L2, and the second connecting line L2 is perpendicular to the first connecting line L1 and passes through the midpoint of the first connecting line L1. In the present embodiment, the two driving wheels 6 are located in the middle of the chassis 1, the first line L1 is the geometric center line of the cleaning robot in the longitudinal direction (parallel to the advancing direction), and the second line L2 is the geometric center line of the cleaning robot in the transverse direction (perpendicular to the longitudinal direction). The connecting line of the walking wheel set 2 and the two driving wheels 6 forms a triangle. Because the two driving wheels 6 are symmetrically arranged relative to the second connecting line L2, the walking wheel set 2 is arranged on the second connecting line L2, so that the geometric center of the triangle formed by the walking wheel set 2 and the two driving wheels 6 is positioned on the second connecting line L2, and the cleaning robot is stably supported.

In a further embodiment, see fig. 3, the rear side of the chassis 1 in the direction of advance is provided with a support wheel set 7, the support wheel set 7 being located on the second line L2. At this time, the walking wheel set 2, the two driving wheels 6 and the supporting wheel set 7 support the cleaning robot together, so that the walking stability of the cleaning robot is further improved. It will be appreciated that the geometric centre of the quadrilateral formed by the four wheels of the running wheel set 2, the support wheel set 7 and the two driving wheels 6 is located on the second line L2.

Further, the traveling wheel set 2 is disposed closer to the first link L1 than the supporting wheel set 7, so that the cleaning robot with a relatively rear center of gravity (such as a water tank with a relatively large weight and an electric appliance module disposed on the chassis 1 with a relatively rear center of gravity) can be stably supported. Specifically, a plane formed by the first connection line L1 and the second connection line L2 is set as a projection plane P. The cleaning robot with a rear center of gravity means that the projection D of the center of gravity on the projection plane P is located on the second connecting line L2 and located at the rear side of the first connecting line L1. Correspondingly, the walking wheel set 2 is arranged to be closer to the first connecting line L1 than the supporting wheel set 7, so that the geometrical center of the quadrangle formed by the walking wheel set 2, the supporting wheel set 7 and the two driving wheels 6 moves to the rear side of the first connecting line L1 to be closer to the projection D and even coincide with the projection D, and the cleaning robot is supported more stably.

Optionally, the support wheel set 7 comprises a support wheel. The support wheels may be provided in one, two or three. The support wheel may be a universal wheel. Or the structure of the supporting wheel set 7 is the same as that of the walking wheel set 2, namely, the walking wheel set 2 is arranged at the front end and the rear end of the advancing direction of the chassis 1.

Optionally, the cleaning robot further comprises a transfer rack 4. The mounting frame assembly 22 and the locking assembly 3 are arranged on the adapter frame 4. The road wheels 21 are rotatably mounted on the mounting frame assembly 22. The adapter bracket 4 is rotatably mounted on the bottom side of the chassis 1. The rotation axis (extending vertically) of the adapter bracket 4 is perpendicular to the rotation axis (extending horizontally) of the road wheel 21. While the travelling wheel 21 rotates around the horizontal axis of the travelling wheel, the transfer frame 4 can rotate around the vertical axis relative to the chassis 1, and the transfer frame 4 drives the mounting frame assembly 22 and the travelling wheel 21 thereon to rotate around the vertical axis, so that the universal rotation of the travelling wheel 21 is realized. The mounting frame assembly 22 and the locking assembly 3 are arranged on the adapter frame 4, and the locking assembly 3 and the mounting frame assembly 22 simultaneously rotate around the vertical direction along with the adapter frame 4, so that when the locking assembly 3 is in a locking state, the locking assembly 3 is stably connected with the mounting frame assembly 22, and the travelling wheels 21 are limited to move in a direction close to or far away from the chassis 1.

Optionally, the cleaning robot further comprises a connection plate 5 and a connection shaft 8. The connecting plate 5 is mounted on the bottom surface of the chassis 1. One end of the connecting shaft 8 is connected with the connecting plate 5, and the other end extends downwards. Be provided with mounting hole 43 on the switching frame 4, be provided with bearing 9 in the mounting hole 43, bearing 9 cooperates with the other end of connecting axle 8 for switching frame 4 can be around connecting axle 8 vertical rotation.

Alternatively, referring to fig. 9-11, 13, the mounting bracket assembly 22 includes a mounting bracket 221 and a first resilient member 222. The mounting 221 is rotatably connected to the chassis 1 by means of a first elastic member 222. The road wheels 21 are rotatably mounted on the mounting frame 221. Under the action of the first elastic member 222, the mounting frame 221 controls the traveling wheel 21 to move in a direction approaching or moving away from the chassis 1.

In particular, in the present embodiment, under the action of the first elastic member 222, the mounting frame 221 always has a tendency to drive the travelling wheel 21 to move away from the chassis 1. By providing the first elastic member 222, when the locking assembly 3 is in the locked state, the mounting frame 221 always has a tendency to drive the travelling wheel 21 to move in a direction away from the chassis 1, so that the travelling wheel 21 always has a great pressure on the surface to be cleaned to reversely support the whole cleaning robot. Meanwhile, by providing the first elastic member 222, when the locking assembly 3 is in the unlocked state, the travelling wheel 21 can also move upwards relative to the chassis 1 under the reverse acting force of the surface to be cleaned, so as to smoothly pass through the uneven surface to be cleaned or smoothly climb a slope and pass over a ridge.

Optionally, the locking assembly 3 includes a locking member 31 and a second elastic member 32, and the locking member 31 is rotatably connected to the adaptor bracket 4 through the second elastic member 32. Under the action of the elastic force of the second elastic member 32, the locking member 31 is connected with the mounting frame assembly 22, and locks the mounting frame assembly 22 on the adapter frame 4, so that the travelling wheel 21 cannot move in a direction approaching or separating from the chassis 1. When the locking piece 31 is impacted by the surface to be cleaned, the locking piece 31 rotates against the elastic force of the second elastic piece 32 to be in an unlocking state, so that the mounting frame assembly 22 drives the travelling wheel 21 to move towards or away from the chassis 1.

In this embodiment, the first elastic member 222 makes the mounting frame 221 always have a tendency to rotate toward the locking assembly 3, so that the travelling wheel 21 always has a tendency to move away from the chassis 1; meanwhile, the second elastic member 32 makes the locking member 31 always have a tendency to rotate toward the mounting bracket 221; that is, under the combined action of the first elastic member 222 and the second elastic member 32, the mounting frame 221 and the locking member 31 have a tendency to rotate toward each other, so that the two abut against each other, and the elastic force of the first elastic member 222 is greater than that of the second elastic member 32, so that the locking assembly 31 locks the mounting frame assembly 22 and the travelling wheel 21 thereon to the adapter frame 4, and the travelling wheel 21 cannot move in a direction approaching or separating from the chassis 1. When the cleaning robot walks on the rugged surface to be cleaned, climbs or passes over a ridge, the bottom of the locking piece 31 receives an impact force from the higher surface to be cleaned, and the impact force is large enough to enable the locking piece 31 to overcome the elastic force of the second elastic piece 32 and rotate relative to the adapter frame 4 to unlock, and the mounting frame assembly 22 drives the walking wheel 21 to move towards or away from the chassis 1. When the cleaning robot smoothly passes over the uneven surface to be cleaned, or smoothly climbs and passes over the ridge, the locking member 31 is separated from the surface to be cleaned, and the locking member 31 locks the mounting frame assembly 22 on the adapter frame 4 again under the action of the elastic force of the second elastic member 32.

By arranging the second elastic piece 32, the automatic locking of the walking wheel set 2 by the locking assembly 3 is realized by utilizing the elastic force of the second elastic piece 32; the locking piece 31 can overcome the elastic force of the second elastic piece 32 when being impacted by the surface to be cleaned, so as to realize automatic unlocking of the walking wheel set 2; namely, the smooth switching of the locking piece 31 between the locking state and the unlocking state is realized, and the structure is simple and the installation is convenient.

Alternatively, referring to fig. 4-9 and 12, the adaptor bracket 4 is provided with a first shaft hole 41 and a second shaft hole 42, the first shaft hole 41 is penetrated by a first shaft 3111, the locking member 31 is mounted on the first shaft 3111, the second shaft hole 42 is penetrated by a second shaft 2214, and the mounting bracket 221 is mounted on the second shaft 2214. The first shaft hole 41 and the second shaft hole 42 are arranged in parallel, so that the locking piece 31 is effectively abutted with the mounting frame 221 under the action of the first elastic piece 222 and the second elastic piece 32, and the locking piece 31 effectively locks the mounting frame assembly 22 on the adapter frame 4.

Alternatively, referring to fig. 4-8, 13, the locking member 31 includes a trigger portion 311 and a locking portion 312. The trigger portion 311 is located in a direction away from the chassis 1. The second elastic member 32 is connected between the trigger portion 311 and the adaptor bracket 4. The lock portion 312 is interlocked with the trigger portion 311. The locking portion 312 is adapted to cooperate with the mounting bracket 221 to lock the mounting bracket assembly 22. Specifically, under the action of the second elastic member 32, the trigger portion 311 always has a tendency to rotate towards the mounting frame 221, and drives the locking portion 312 to abut against the mounting frame 221 so as to lock the mounting frame assembly 22; when the trigger portion 311 is triggered by the impact of the surface to be cleaned, the trigger portion 311 rotates against the elastic force of the second elastic member 32, and the locking portion 312 rotates together with the trigger portion 311 and is separated from the mounting frame 221 to unlock the mounting frame assembly 22.

In this embodiment, the trigger portion 311 includes a first rotating portion 3112 and a trigger body 3113. The first rotating portion 3112 is provided with a first coupling hole 3112a, and the first rotating portion 3112 is coupled to the first rotating shaft 3111 through the first coupling hole 3112 a. The first rotating portion 3112 is tubular. The second elastic member 32 includes a first torsion spring. The first torsion spring is sleeved on the tubular first rotating part 3112, one end of the first torsion spring is connected with the switching frame 4, and the other end of the first torsion spring is connected with the triggering body 3113. Under the elastic force of the first torsion spring, the trigger body 3113 always has a tendency to rotate toward the mount 221, so that the trigger body 3113 locks the mount assembly 22 by the locking portion 312.

Illustratively, the trigger body 3113 is plate-shaped, simple in structure, and convenient to machine. The two first rotating parts 3112 are optionally arranged, and the two first rotating parts 3112 are arranged at intervals along the rotation axis of the trigger body 3113, so as to ensure the rotation stability of the trigger body 3113. The material of the trigger body 3113 is not limited as long as the strength and the service life of the trigger body 3113 can be ensured. Optionally, a reinforcing structure is disposed at the bottom of the trigger body 3113, so as to improve the strength of the bottom of the trigger body 3113 and prevent the bottom from being disabled due to frequent impact by the surface to be cleaned.

Optionally, the locking portion 312 includes a protrusion, and the mounting bracket 221 is provided with a first notch 2211a (fig. 10 and 11). When the locking assembly 3 is in the locked state, the top end of the protrusion is clamped into the first notch 2211a to lock the mounting frame assembly 22 on the adapter frame 4. When the trigger portion 311 is triggered to rotate to unlock, the protrusion rotates along with the trigger portion 311 and is separated from the first notch 2211a, so as to unlock the mounting frame assembly 22. The locking part 312 and the mounting frame 221 adopt the matching mode of the protrusion and the first notch 2211a, so that the mounting frame assembly 22 is effectively locked or unlocked, and the device is simple and ingenious in structure and convenient to process and manufacture.

In this embodiment, the protrusion is protruding on the first rotating portion 3112. In other embodiments, the protrusion may be provided on the first trigger body 3113, so long as locking and unlocking of the mounting frame assembly 22 can be achieved. Alternatively, the protrusion, the first rotating portion 3112 and the triggering body 3113 are integrally formed as a single structure, which has high structural strength and simple manufacturing process. Illustratively, the projections are cam-like or cam-like shaped bodies.

Alternatively, referring again to fig. 4 to 8, the triggering portion 311 is provided with a dodging portion 3113a, and the dodging portion 3113a is configured to dodge the running wheel set 2 when the triggering portion 311 is triggered to rotate. Specifically, when the bottom of the triggering portion 311 is triggered by the impact of the surface to be cleaned, the triggering portion 311 rotates toward the traveling wheel set 2, and the avoiding portion 3113a is provided to avoid the traveling wheel set 2, so that the triggering portion 311 can be disposed as close to the traveling wheel set 2 as possible, thereby reducing the occupied space of the chassis 1. In this embodiment, the relief portion 3113a is provided at the bottom of the trigger body 3113. Illustratively, the relief 3113a is a second notch disposed at the bottom of the trigger body 3113.

Optionally, the mounting bracket 221 includes a connecting arm and cantilever 2213. One end of the connecting arm is mounted on the adapter frame 4 through a second rotating shaft 2214, and the travelling wheel 21 is rotatably mounted on the other end of the connecting arm. The cantilever 2213 is arranged on the connecting arm. One end of the first elastic member 222 is fixedly connected with the adapter frame 4, and the other end is connected with the cantilever 2213. The connecting arm serves as a mounting carrier for the road wheels 21. The cantilever 2213 is used for the mounting of the first elastic member 222. The connection arms include first and second connection arms 2211 and 2212 angled. Further alternatively, the mounting frame 221 may be an integrally formed integral structure, and has high structural strength and high production efficiency. The two mounting frames 221 are preferably arranged, and the two mounting frames 221 are respectively arranged at the two axial ends of the travelling wheel 21, so that the stable rotation of the travelling wheel 21 is ensured. Specifically, a third rotating shaft is connected between the second connecting arms 2212 of the two mounting frames 221, and the traveling wheel 21 is mounted on the third rotating shaft.

The first connecting arm 2211 is provided with a second connecting hole 2211b, and the first connecting arm 2211 is sleeved on the second rotating shaft 2214 through the second connecting hole 2211 b. The first elastic member 222 includes a second torsion spring. The second torsion spring is sleeved on the second rotating shaft 2214, one end of the second torsion spring is connected with the adapter bracket 4, and the other end of the second torsion spring is connected with the cantilever 2213. One end of the first connection arm 2211 away from the second connection arm 2212 is used for abutting against the locking portion 312. The first notch 2211a is disposed on the first connecting arm 2211.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims

1. A cleaning robot, comprising:

a chassis (1);

the walking wheel set (2) comprises a walking wheel (21) and a mounting frame assembly (22), and the walking wheel (21) can move towards or away from the chassis (1) under the control of the mounting frame assembly (22);

a locking assembly (3), the locking assembly (3) being located at a front side of the traveling wheel set (2) in a forward direction of the cleaning robot, the locking assembly (3) having a locked state and an unlocked state; when the locking assembly (3) is in the locking state, the travelling wheel (21) cannot move in a direction approaching or separating from the chassis (1); when the locking assembly (3) is in the unlocking state, the travelling wheel (21) can move towards or away from the chassis (1);

the chassis also comprises a transfer frame (4), wherein the mounting frame assembly (22) and/or the locking assembly (3) are/is arranged on the lower side of the chassis (1) through the transfer frame (4); the travelling wheel (21) is rotatably arranged on the mounting frame assembly (22);

the mounting frame assembly (22) comprises a mounting frame (221) and a first elastic piece (222), and the mounting frame (221) is rotatably arranged on the adapter frame (4) through the first elastic piece (222);

the locking assembly (3) comprises a locking piece (31) and a second elastic piece (32), and the locking piece (31) is rotatably arranged on the adapter frame (4) through the second elastic piece (32);

when the locking piece (31) is impacted, the locking piece (31) rotates against the acting force of the second elastic piece (32) to be in an unlocking state;

the first elastic piece (222) enables the mounting frame (221) to always have a tendency to rotate towards the locking assembly (3), the second elastic piece (32) enables the locking piece (31) to always have a tendency to rotate towards the mounting frame (221), and the elastic force of the first elastic piece (222) is larger than that of the second elastic piece (32);

the adapter bracket (4) is provided with a first shaft hole (41) and a second shaft hole (42) which are parallel, the first shaft hole (41) is penetrated with a first rotating shaft (3111), the locking piece (31) is installed on the first rotating shaft (3111), the second shaft hole (42) is penetrated with a second rotating shaft (2214), and the installation bracket (221) is installed on the second rotating shaft (2214);

the locking member (31) includes:

a trigger part (311) which is positioned in a direction away from the chassis (1) and is rotatably arranged on the switching frame (4) through the second elastic piece (32);

a locking portion (312) that is linked with the trigger portion (311), the locking portion (312) restricting rotation of the mount (221) when the locking assembly (3) is in the locked state;

the locking part (312) comprises a protrusion, and a first notch (2211 a) is arranged on the mounting frame (221);

the projection being placed in the first notch (2211 a) when the locking assembly (3) is in the locked state; the projection is disengaged from the first notch (2211 a) when the locking assembly (3) is in the unlocked state.

2. The cleaning robot according to claim 1, wherein the triggering portion (311) is provided with a avoiding portion (3113 a), and the avoiding portion (3113 a) is configured to avoid the traveling wheel set (2) when the triggering portion (311) is triggered to rotate.

3. The cleaning robot according to claim 1, characterized in that the mounting frame (221) always has a tendency to drive the travelling wheel (21) to move away from the chassis (1) under the action of the first elastic member (222).

4. The cleaning robot according to claim 1, wherein the mounting frame (221) includes a connection arm and a cantilever (2213), the traveling wheel (21) is rotatably mounted on the connection arm, the cantilever (2213) is disposed on the connection arm, one end of the first elastic member (222) is fixed, and the other end thereof is connected to the cantilever (2213).

5. The cleaning robot according to any one of claims 1-4, characterized in that the cleaning robot further comprises two driving wheels (6), both driving wheels (6) being symmetrically arranged on both sides of the chassis (1); setting a connecting line of centers of the two driving wheels (6) as a first connecting line (L1);

the walking wheel set (2) is positioned at the front side of the advancing direction of the cleaning robot and is positioned on a second connecting line (L2), and the second connecting line (L2) is perpendicular to the first connecting line (L1) and passes through the middle point of the first connecting line (L1).

6. The cleaning robot according to claim 5, characterized in that it further comprises a support wheel set (7), which support wheel set (7) is located on the rear side of the forward direction of the cleaning robot and on the second line (L2);

the running wheel set (2) is closer to the first line (L1) than the support wheel set (7).