CN114867400B

CN114867400B - Running gear and cleaning robot

Info

Publication number: CN114867400B
Application number: CN202280000563.3A
Authority: CN
Inventors: 张学东
Original assignee: Shenzhen Zhiyi Technology Co ltd
Current assignee: Shenzhen Zhiyi Technology Co ltd
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2023-07-21
Anticipated expiration: 2042-03-25
Also published as: CN114867400A; WO2023178664A1

Abstract

The application discloses running gear and cleaning robot, this running gear are used for connecting the organism and drive the organism and remove, and running gear includes: the supporting feet are used for contacting with the working surface; the driving assembly is used for being connected with the machine body, is connected with the supporting legs and is used for driving the supporting legs to rotate along a preset circular track and pushing the machine body. The cleaning robot comprises a machine body and the travelling mechanism, and the driving assembly is connected with the machine body. The running gear and the cleaning robot that this application provided utilize foretell running gear to provide driving force for cleaning robot, at the in-process that cleaning robot removed, even if meet flexible barrier such as cable, perhaps at flexible working face such as carpet and bed, also can stably remove, effectively overcome the not good problem of cleaning robot removal reliability that exists among the prior art.

Description

Running gear and cleaning robot

Technical Field

The application belongs to the technical field of cleaning equipment, and more specifically relates to a travelling mechanism and a cleaning robot.

Background

Along with the development of society, various novel household appliances are endless, and the cleaning robot is used as a representative household appliance, and can clean the indoor environment through a cleaning component of the cleaning robot so as to reduce the household burden of a user.

The cleaning robots generally comprise a sweeping robot, an acarid removing robot and the like according to different application scenes, the cleaning robots are generally provided with travelling mechanisms, and the travelling mechanisms are utilized to realize the displacement of the cleaning robots. However, the existing cleaning robots generally adopt wheels or crawler-type structures to realize displacement, in the process of utilizing these travelling mechanisms to realize movement, some flexible barriers (such as cables, knitting wool, etc.) of the cleaning robots are easy to clamp into the travelling mechanisms, and some flexible working surfaces (such as beds, carpets, etc.) cannot provide enough support and friction for the travelling mechanisms of the cleaning robots, so that the movement and the work of the cleaning robots are affected, and the movement reliability of the cleaning robots is poor.

Disclosure of Invention

An object of the embodiment of the application is to provide a running gear and cleaning robot to solve the technical problem that the running gear of cleaning robot that exists among the prior art removes the reliability not good enough.

In order to achieve the above purpose, the technical scheme adopted in the embodiment of the application is as follows:

in one aspect, an embodiment of the present application provides a running gear for connect the organism and drive the organism to remove, include:

the supporting feet are used for contacting with the working surface;

the driving assembly is used for being connected with the machine body, is connected with the supporting legs and is used for driving the supporting legs to rotate along a preset circular track and pushing the machine body.

Optionally, the driving assembly comprises a driving part and a transmission part connected with the driving part, wherein the transmission part is connected with the supporting leg and used for transmitting the power of the driving part to the supporting leg so as to enable the supporting leg to rotate along the preset circular track and push the machine body.

Optionally, the transmission part includes a synchronizing wheel connected to the driving part, and the supporting leg is connected to a non-axial position of the synchronizing wheel, so that the supporting leg forms the preset circular track in the rotation process.

Optionally, the transmission part further comprises a synchronous belt and an auxiliary wheel connected with the supporting leg, wherein the synchronous wheel and the auxiliary wheel are both connected with the synchronous belt and realize synchronous rotation through the synchronous belt.

Optionally, the synchronizing wheel with the auxiliary wheel all include the main part wheel and with drive portion and the bellying that the main part wheel is connected, the bellying protruding in one side of main part wheel and with the supporting legs is connected, the drive portion connect in drive component connect and with main part wheel coaxial setting, the drive portion with the hold-in range is connected.

Optionally, the inner ring of the synchronous belt and the outer edge of the transmission part are both provided with tooth parts, and the synchronous belt is meshed with the transmission part for transmission.

Optionally, the driving component comprises a driving motor and a speed reducer, the speed reducer is connected to an output shaft of the driving motor, and an output shaft of the speed reducer is connected with the transmission component.

Optionally, the supporting leg includes supporting part and connecting portion, the supporting part is used for with working face contact, the one end of connecting portion with drive assembly connects, the other end of connecting portion with the supporting part connects.

The walking mechanism provided by the embodiment of the application has the following beneficial effects: compared with the prior art, the running gear that this application embodiment provided through the drive assembly drive supporting legs along predetermineeing circular orbit and rotating, at the in-process of supporting legs pivoted, the supporting legs can change with the relative height of working face, at this in-process, borrow the cooperation of supporting legs and drive assembly, can promote the organism, makes the organism remove. Therefore, the continuous circulation of the lifting fluctuation of the machine body and the travelling mechanism can be utilized to realize the movement of the cleaning robot, the problem that foreign matters such as cables are blocked into the travelling mechanism is effectively solved, reliable driving force can be provided for the cleaning robot, and the cleaning robot is beneficial to use.

On the other hand, the embodiment of the application also provides a cleaning robot, which comprises a machine body and the travelling mechanism, wherein the driving assembly is connected with the machine body.

Optionally, the two travelling mechanisms are respectively connected to two opposite sides of the machine body, and the driving assemblies of the two travelling mechanisms synchronously rotate or asynchronously rotate so as to realize movement and steering of the machine body.

Optionally, the cleaning robot is an acarid removing robot, the machine body comprises a machine base, a dustbin, an acarid removing component and a cleaning component, the dustbin is connected to the machine base, and the acarid removing component and the cleaning component are arranged inside the machine base.

The public cleaning robot provided by the embodiment of the application has the following beneficial effects: compared with the prior art, the cleaning robot provided by the embodiment of the application utilizes the travelling mechanism to provide driving force for the cleaning robot, and in the moving process of the cleaning robot, even if flexible barriers such as cables are encountered, or flexible working surfaces such as carpets and beds can be stably moved, so that the problem of poor moving reliability of the cleaning robot in the prior art is effectively solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a walking mechanism according to an embodiment of the present disclosure;

fig. 2 is an exploded structural schematic view of a running mechanism provided in an embodiment of the present application;

FIG. 3 is a schematic perspective view of a synchronizing wheel used in an embodiment of the present application;

fig. 4 is a schematic perspective view of a cleaning robot according to an embodiment of the present application;

fig. 5 is a schematic diagram of a three-dimensional structure of a cleaning robot according to an embodiment of the present disclosure;

FIG. 6 is a schematic side view of a cleaning robot provided in an embodiment of the present application;

fig. 7 is a second schematic side view of the cleaning robot provided in the embodiment of the present application;

FIG. 8 is a schematic side view III of a cleaning robot provided in an embodiment of the present application;

FIG. 9 is a side view, schematic illustration, of a cleaning robot provided in an embodiment of the present application;

fig. 10 is a schematic bottom view of a cleaning robot provided in an embodiment of the present application;

fig. 11 is a schematic perspective view of a cleaning robot according to an embodiment of the present disclosure;

fig. 12 is an exploded structural schematic view of a cleaning robot provided in an embodiment of the present application.

Wherein, each reference sign in the figure:

100. a walking mechanism; 10. a drive assembly; 11. a transmission member; 111. a synchronizing wheel; 112. an auxiliary wheel; 113. a synchronous belt; 111a, a main body wheel; 111b, a boss; 111c, a transmission part; 111d, slot position; 12. a driving part; 121. a driving motor; 122. a speed reducer; 13. supporting feet; 131. a connection part; 132. a support part; 133. a fastener;

200. a body; 21. a dustbin; 22. a base; 220. an air outlet; 221. an upper case; 222. a side case; 223. a lower case; 23. a fall sensor; 24. an acarid removal assembly; 241. an ultraviolet lamp; 242. a distance sensor; 25. a cleaning assembly; 251. a wind drum motor; 252. a heating member; 253. a high efficiency net; 254. a rolling brush; 26. a circuit board; 27. and a battery.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The various features and embodiments described in the detailed description may be combined in any suitable manner, e.g. different embodiments may be formed by different combinations of features/embodiments/implementations, where not contradictory, and the various possible combinations of features/embodiments/implementations are not described further in this application in order to avoid unnecessary repetition.

Some embodiments of the present application provide a walking mechanism 100, please refer to fig. 1 and 4, the walking mechanism 100 may be applied to various cleaning robots, and the walking mechanism 100 is connected with a machine body 200, and the machine body 200 is driven to move by the walking mechanism 100, so as to implement displacement of the cleaning robot. Referring to fig. 1, 2 and 5, the walking mechanism 100 of the present embodiment includes a supporting leg 13 and a driving component 10, the driving component 10 can be connected with a machine body 200 of the cleaning robot, the supporting leg 13 can be connected with the driving component 10, when the cleaning robot moves, the supporting leg 13 connected with the driving component 10 can be driven by the driving component 10 to rotate along a preset circular track, and during the rotation of the supporting leg 13, the relative height of the supporting leg 13 (refer to fig. 6 to 8, where the relative height refers to the connection position of the supporting leg 13 and the driving component 10 relative to the working surface) can be changed, and the machine body 200 can be pushed to move the cleaning robot. Specifically, referring to fig. 6, when the driving assembly 10 drives the supporting leg 13 to be lifted to the height of the preset circular track, the body 200 of the cleaning robot may contact the working surface, and the supporting leg 13 is not in contact with the working surface, and the body 200 serves as a supporting point; referring to fig. 7 and 8, the rear driving assembly 10 can drive the supporting leg 13 to rotate and descend to the lower position of the preset circular track, and in this process, the supporting leg 13 can contact with the working surface to prop up the machine body 200 for suspension and forward pushing; referring to fig. 9, the supporting leg 13 is driven to rotate and reset to a higher position by the rear driving assembly 10, and in the resetting process, the supporting leg 13 can continuously push the machine body 200 forward until the supporting leg 13 is no longer in contact with the working surface, and finally resets to a higher position with a preset circular track, and thus the reciprocating cycle is realized, so that the cleaning robot can move. By means of the design, the movement of the cleaning robot can be achieved by means of the lifting fluctuation of the machine body 200 and the travelling mechanism 100, compared with the prior art, the problem that foreign matters such as cables are clamped into the travelling mechanism 100 is effectively solved, and even a flexible working surface such as a carpet and a bed can stably move, so that reliable driving is provided for the cleaning robot. In a specific application, the driving component 10 can drive the rotation direction of the supporting leg 13 to realize the movement of the cleaning robot in different directions, and the movement speed of the cleaning robot is controlled by changing the rotation speed of the supporting leg 13.

As an alternative implementation of this embodiment, please refer to fig. 1 and 2, the driving assembly 10 includes a driving member 12 and a transmission member 11, the driving member 12 may be connected to the transmission member 11, the transmission member 11 may be connected to the supporting leg 13, in a specific application, the driving member 12 may be used to provide driving force, and the transmission member 11 connected to the driving member 12 may transmit the driving force of the driving member 12 to the supporting leg 13, so that the supporting leg 13 can rotate along a preset circular track. By means of the design, power can be efficiently transmitted to the supporting legs 13 through the transmission part 11, the rotating track of the supporting legs 13 can be adjusted through reasonably setting the specific structure of the transmission part 11, and meanwhile, transmission structures with different specific structures can be selected according to different types of applied cleaning robots, so that the cleaning robots can adapt to different application scenes, and the practicability of the travelling mechanism 100 is improved.

As an alternative to this embodiment, referring to fig. 1 to 3, the transmission part 11 may include a synchronizing wheel 111, and the synchronizing wheel 111 may be connected with the driving part 12 and the supporting foot 13. Specifically, the synchronizing wheel 111 may be connected to the output shaft of the driving part 12, and the supporting leg 13 may be connected at a non-axial position of the synchronizing wheel 111, that is, a connection between the supporting leg 13 and the synchronizing wheel 111 does not fall on an axis of the output shaft of the driving part 12, so that the synchronizing wheel 111 may be driven to rotate by the driving part 12, and the supporting leg 13 may be rotated and form a preset circular track by the synchronizing wheel 111.

In a specific application, the rotation range and the lifting amplitude of the supporting leg 13 can be adjusted by changing the connection position of the supporting leg 13 to the synchronizing wheel 111 or changing the size of the synchronizing wheel 111, in general, the closer the connection position of the supporting leg 13 to the synchronizing wheel 111 is to the axle center position of the synchronizing wheel 111, the smaller the rotation range and the lifting amplitude of the supporting leg 13 are, and the rotation range and the lifting amplitude of the supporting leg 13 are positively correlated to the distance traveled by the travelling mechanism 100 each time. In this way, the moving speed of the cleaning robot can be adjusted by properly setting the connection position or size of the synchronizing wheel 111 and the supporting foot 13.

As an alternative implementation of this embodiment, please refer to fig. 1 and 2, the transmission component 11 further includes a synchronous belt 113 and an auxiliary wheel 112, the synchronous wheel 111 and the auxiliary wheel 112 may be both connected with the synchronous belt 113, and both may implement synchronous rotation through the synchronous belt 113. Specifically, the auxiliary wheel 112 may also be connected to the supporting leg 13, when the driving component 12 drives the synchronous wheel 111 to rotate, the synchronous wheel 111 may drive the auxiliary wheel 112 to synchronously rotate through the synchronous belt 113, and the synchronous wheel 111 and the auxiliary wheel 112 are utilized to further drive the supporting leg 13 to rotate and lift. By means of the design, stability in the rotation and lifting process of the supporting legs 13 can be improved through the synchronous wheels 111 and the auxiliary wheels 112, and the running mechanism 100 and the cleaning robot are more reliable.

As an alternative implementation of this embodiment, please refer to fig. 2 and 3, the structures of the synchronizing wheel 111 and the auxiliary wheel 112 may be substantially the same, specifically, the synchronizing wheel 111 and the auxiliary wheel 112 may each include a main body wheel 111a, a transmission portion 111c, and a transmission portion 111c and a protrusion portion 111b of the protrusion portion 111b may each be connected to the main body wheel 111a, where the protrusion portion 111b may protrude from one side of the main body wheel 111a and be connected to the supporting leg 13 through a fastener 133, so that the synchronizing wheel 111 and the auxiliary wheel 112 form a cam structure, the transmission portion 111c may be connected to the driving member 12 and disposed coaxially with the main body wheel 111a, and the transmission portion 111c is connected to the timing belt 113. In this way, the transmission part 111c of the synchronizing wheel 111 and the auxiliary wheel 112 is connected with the synchronous belt 113, so that the transmission connection of the synchronizing wheel 111 and the auxiliary wheel 112 is realized, and the protruding part 111b protruding from one side of the main body wheel 111a is utilized to connect the supporting leg 13, so that the sizes of the synchronizing wheel 111 and the auxiliary wheel 112 are reduced, the problem of strength reduction caused by oversized synchronizing wheel 111 and auxiliary wheel 112 is avoided, and the miniaturization of the travelling mechanism 100 and the improvement of the reliability of the travelling mechanism 100 are facilitated.

Specifically, referring to fig. 2 and 3, the main body wheel 111a and the transmission portion 111c may have disc structures, the transmission portion 111c may be fixedly connected to an end surface of the main body wheel 111a, the timing belt 113 may be connected to the transmission portion 111c, the protrusion portion 111b may be fixedly connected to a side surface of the main body wheel 111a, and the protrusion portion 111b may have a substantially triangular structure, so as to improve a connection strength between the protrusion portion 111b and the main body wheel 111 a. A plurality of slots 111d may be provided on the main body wheel 111a, the transmission part 111c, and the protrusion part 111b to reduce the weight of the synchronizing wheel 111 and the auxiliary wheel 112, so as to facilitate the use of the cleaning robot.

Of course, in other embodiments, the synchronizing wheel 111 and the auxiliary wheel 112 of other suitable structures may be selected according to the type of the cleaning robot, for example, when the cleaning robot is small in size, the synchronizing wheel 111 and the auxiliary wheel 112 may be of a disc-shaped wheel structure, and the supporting legs 13 may be connected at positions near the edges of the synchronizing wheel 111 and the auxiliary wheel 112, so that effects similar to those of the present embodiment may be achieved.

As an alternative implementation of this embodiment, referring to fig. 2, both the inner ring of the synchronous belt 113 and the outer edge of the transmission portion 111c may be provided with teeth, through which the synchronous belt 113 may be meshed with the transmission portion 111c for transmission, specifically, the synchronous wheel 111 and the auxiliary wheel 112 may be disposed at a horizontal interval, and the interval between the two may be greater than the radius of a virtual circle formed by rotation of the protruding portion 111b, so as to avoid interference between the synchronous wheel 111 and the auxiliary wheel 112. By such a design, the transmission reliability of the timing belt 113 and the timing wheel 111 and the auxiliary wheel 112 can be improved by the meshing transmission of the timing belt 113 and the transmission portion 111c, and slip misalignment between the timing belt 113 and the timing wheel 111 and the auxiliary wheel 112 can be avoided.

As an alternative implementation of this embodiment, referring to fig. 2, the driving part 12 includes a driving motor 121 and a speed reducer 122, the speed reducer 122 may be connected to an output shaft of the driving motor 121, and an output shaft of the speed reducer 122 may be connected to the transmission part 11. By such a design, the driving force can be output through the driving motor 121, and the moment of the driving force of the driving motor 121 is increased through the speed reducer 122, so that the traveling mechanism 100 can be applied to a cleaning robot with a large size or a heavy weight, and the cleaning robot can be moved more stably.

As an alternative implementation of this embodiment, please refer to fig. 1 and 2, the supporting leg 13 includes a supporting portion 132 and a connecting portion 131, the supporting portion 132 may be used for contacting the working surface, one end of the connecting portion 131 may be connected to the driving assembly 10, and the other end of the connecting portion 131 may be connected to the supporting portion 132. Specifically, two connection parts 131 may be provided, one connection part 131 may be connected with the boss 111b of the synchronizing wheel 111, the other connection part 131 may be connected with the boss 111b of the auxiliary wheel 112, and the two connection parts 131 may be disposed at intervals to reduce the occupied space of the support foot 13.

In a specific application, the specific structures of the supporting portion 132 and the connecting portion 131 may be adaptively adjusted according to different types of cleaning robots, for example, please refer to fig. 2 and fig. 4, when the cleaning robot is an acarid removing robot used on a bed, the supporting portion 132 may be in a rectangular plate structure, the connecting portion 131 may be in a rod-shaped structure, the connecting portion 131 may be connected to an upper end surface of the supporting portion 132, a lower end surface of the supporting portion 132 may be used for contacting with a working surface, and an anti-slip line (not shown in the figure) may be provided. Thus, even if the mite removing robot moves on a relatively soft bed, the sufficient stability can be maintained, the bedding is prevented from being blocked into the running mechanism 100 of the mite removing robot, and the reliability of the mite removing robot is improved. And the front end and the rear end of the supporting part 132 can tilt upwards to reduce the interference of bedding on the mite removing robot, for example, the problem that the quilt is clamped by the supporting legs 13 can be avoided, and the practicability of the mite removing robot is further improved. In addition, the connecting portion 131 may be hollow, and a reinforcing rib is disposed at a connection position between the connecting portion 131 and the supporting portion 132, so that the weight of the supporting leg 13 is reduced while the structural strength of the supporting leg 13 is ensured.

The beneficial effects of running gear 100 that this embodiment provided lie in, through drive assembly 10 drive supporting legs 13 along predetermineeing circular orbit rotation, at supporting legs 13 pivoted in-process, supporting legs 13 and working face's relative height can change, in this process, borrow the cooperation of supporting legs 13 and drive assembly 10, can promote organism 200, makes organism 200 remove. In this way, the continuous circulation of the lifting fluctuation of the machine body 200 and the travelling mechanism 100 can be utilized to realize the movement of the cleaning robot, so that the problem that foreign matters such as cables are blocked into the travelling mechanism 100 is effectively solved, reliable driving force can be provided for the cleaning robot, and the cleaning robot is beneficial to use.

Referring to fig. 4 and 5, the present embodiment further provides a cleaning robot, which includes a machine body 200 and the above-mentioned travelling mechanism 100, and the driving assembly 10 may be connected to the machine body 200. In a specific application, the traveling mechanism 100 may be installed at a proper position of the machine body 200 according to the type of the cleaning robot, for example, the traveling mechanism 100 may be installed at a bottom or both sides of the machine body 200, etc., and the number of the traveling mechanisms 100 may be reasonably selected.

As an alternative implementation of this embodiment, please refer to fig. 4 and 5, the two travelling mechanisms 100 may be provided, the two travelling mechanisms 100 may be respectively connected to two opposite sides of the machine body 200, in a specific application, the driving assemblies 10 of the two travelling mechanisms 100 may rotate synchronously or asynchronously, when the driving assemblies 10 of the two travelling mechanisms 100 drive the supporting feet 13 to rotate synchronously, the cleaning robot may advance or retract, and when the cleaning robot needs to turn, the driving assemblies 10 of the two travelling mechanisms 100 drive the supporting feet 13 to rotate asynchronously, so as to turn the cleaning robot. In this way, the two traveling mechanisms 100 can be engaged to realize operations such as movement and steering of the cleaning robot.

As an alternative implementation of this embodiment, taking the cleaning robot as an example for further explanation, referring to fig. 10 to 12, the machine body 200 may include a machine base 22, a dustbin 21, and an acarid removing assembly 24 and a cleaning assembly 25, where the dustbin 21 may be installed above the machine base 22, the acarid removing assembly 24 and the cleaning assembly 25 may be installed in the machine base 22, and a drop sensor 23 may be provided on the dustbin 21, and the drop sensor 23 may detect the front or the periphery of the acarid removing robot in real time, so that the acarid removing robot falls from a high place.

The frame 22 includes upper casing 221, inferior valve 223 and side shell 222, and upper casing 221 and inferior valve 223 can be connected with each other in order to form the cavity that is used for holding mite removal subassembly 24 and clean subassembly 25, and running gear 100 can install in the both sides position department of frame 22 to cover running gear 100's partial structure through side shell 222, avoid debris such as dust to influence running gear 100's use, also can improve mite removal robot's outward appearance simultaneously.

The mite removing assembly 24 may include an ultraviolet lamp 241 and a distance sensor 242, and the ultraviolet lamp 241 and the distance sensor 242 may be installed under the base 22, and the ultraviolet lamp 241 may irradiate a path through which the mite removing robot passes in a moving process of the mite removing robot so as to destroy mites and bacteria and the like on a working surface. And the distance sensor 242 can be used for detecting whether the mite removing robot is placed on the working surface, when the mite removing robot is picked up, the distance sensor 242 can be triggered to turn off the ultraviolet lamp 241, so that the damage caused by the fact that the ultraviolet lamp 241 irradiates the human body is avoided, and the safety of the mite removing robot is improved.

The cleaning assembly 25 may include a rolling brush 254, a wind drum motor 251, a heating unit 252, and a high efficiency net 253, where the rolling brush 254 may be exposed below the base 22, the rolling brush 254 is utilized to flap the cleaning surface, the wind drum motor 251 may generate suction force to suck dirt on the surface into the dustbin 21 above the base 22, the air flow generated by the wind drum motor 251 may be separated and filtered in the dustbin 21, filtered again by the high efficiency net 253, heated by the heating unit 252, and finally blown to the surface through the air outlet 220 below the base 22. In this way, the rolling brush 254 and the wind drum motor 251 can be utilized to clean the working surface, and meanwhile, the air flow generated by the wind drum motor 251 can be utilized to dry the working surface, so that the functionality of the mite removing robot is enriched. In a specific application, the machine body 200 may further include electrical components such as a battery 27 and a circuit board 26, and the specific structure of the machine body may refer to the prior art, which will not be described in detail in this embodiment.

For further explanation of the moving manner of the mite removing robot, please refer to fig. 5 and 6, the mite removing robot in fig. 6 is placed on the working surface, the supporting leg 13 is at a high position, the bottom surface of the supporting leg 13 is higher than the bottom surface of the machine body 200, and the driving component 12 drives the transmission component 11 and drives the supporting leg 13 to start rotating; referring to fig. 7, the driving assembly 10 drives the supporting leg 13 to rotate 90 degrees, at this time, the bottom surface of the supporting leg 13 is slightly lower than the bottom surface of the machine body 200, and the supporting leg 13 begins to contact with the working surface; referring to fig. 8, the supporting leg 13 continues to rotate 90 degrees (180 degrees relative to fig. 6), at this time, the machine body 200 is suspended by the supporting leg 13 and is pushed by the supporting leg 13 to the horizontal direction by the distance of one synchronizing wheel 111 (i.e. the length of the connecting position between the supporting leg 13 and the protruding portion 111b from the axle center position of the main body wheel 111a of the synchronizing wheel 111); then, the supporting leg 13 continues to rotate, so that the machine body 200 falls back and contacts the working surface, please refer to fig. 9, in which the machine body 200 continues to advance a distance of the synchronizing wheel 111 under the action of the running mechanism 100 until the supporting leg 13 is not in contact with the working surface and returns to the high position. The above-mentioned process is repeated continuously, so that the mite removing robot can move along a straight line, the up-and-down fluctuation of the mite removing robot can move the distance between the two synchronous wheels 111 each time, and when the mite removing robot turns, the turning is realized by utilizing the rotation speed difference of the running mechanisms 100 at two sides, for example, the running mechanism 100 at one side can stop, the running mechanism 100 at the other side can start, or the running mechanism 100 at one side rotates clockwise, and the running mechanism 100 at the other side rotates anticlockwise, so that the turning operation of the mite removing robot can be realized.

The beneficial effect of cleaning robot that this application embodiment provided lies in, utilizes above-mentioned running gear 100 to provide driving force for cleaning robot, at cleaning robot removal in-process, even meet flexible barrier such as cable, perhaps at flexible working face such as carpet and bed, also can stably remove, effectively overcome the cleaning robot that exists among the prior art and remove the not good problem of reliability.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims

1. A running gear for connecting the organism and driving the organism to remove, characterized by comprising:

the supporting feet are used for contacting with the working surface;

the driving assembly is connected with the machine body, and is used for driving the supporting feet to rotate along a preset circular track and pushing the machine body;

the driving assembly comprises a driving part and a transmission part connected with the driving part, and the transmission part is connected with the supporting leg and used for transmitting the power of the driving part to the supporting leg so as to enable the supporting leg to rotate along the preset circular track and push the machine body;

the transmission part comprises a synchronous wheel connected with the driving part, and the supporting legs are connected to the non-axial positions of the synchronous wheel so as to form the preset circular track in the rotation process of the supporting legs;

the synchronous wheel comprises a main body wheel, a transmission part and a protruding part, wherein the transmission part and the protruding part are connected with the main body wheel, the protruding part protrudes from one side of the main body wheel and is connected with the supporting leg, and the transmission part is connected with the driving part and is coaxially arranged with the main body wheel; the main body wheel and the transmission part are of disc-shaped structures.

2. The running gear of claim 1, wherein the transmission member further comprises a timing belt and an auxiliary wheel coupled to the support leg, the timing wheel and the auxiliary wheel both coupled to and synchronously rotated by the timing belt.

3. The running gear of claim 2, wherein the auxiliary wheel comprises the main body wheel and the transmission portion and the boss portion connected to the main body wheel, the transmission portion being connected to the timing belt.

4. A running gear according to claim 3, wherein the inner ring of the timing belt and the outer edge of the transmission part are provided with tooth parts, and the timing belt is meshed with the transmission part for transmission.

5. A travelling mechanism as claimed in any one of claims 1 to 3, wherein the drive means comprises a drive motor and a speed reducer, the speed reducer being connected to an output shaft of the drive motor, an output shaft of the speed reducer being connected to the transmission means.

6. The running gear according to any one of claims 1 to 4, wherein the supporting foot includes a supporting portion for contacting the working surface and a connecting portion having one end connected to the driving assembly and the other end connected to the supporting portion.

7. A cleaning robot comprising a machine body and a travelling mechanism according to any one of claims 1 to 6, the drive assembly being connected to the machine body.

8. The cleaning robot of claim 7, wherein the traveling mechanisms are provided in two and are connected to opposite sides of the body, respectively, and the driving assemblies of the two traveling mechanisms are rotated synchronously or asynchronously to achieve movement and steering of the body.

9. The cleaning robot of claim 8, wherein the cleaning robot is a mite removal robot, the body comprises a base, a dustbin, a mite removal assembly, and a cleaning assembly, the dustbin is connected to the base, and the mite removal assembly and the cleaning assembly are disposed inside the base.