CN216569736U - Cleaning machines people's mobile device and cleaning machines people - Google Patents

Abstract

The utility model relates to a moving device of a cleaning robot and the cleaning robot, comprising: a housing assembly; the driving wheel assembly is arranged on the shell assembly and can rotate relative to the shell assembly; the driving motor is connected with the driving wheel assembly and is used for driving the driving wheel assembly to rotate; the movable crawler belt is characterized in that the movable crawler belt is moved, the driving wheel assembly is arranged on the inner side of the movable crawler belt and is abutted to the inner wall of the movable crawler belt, the driving wheel assembly is used for driving the movable crawler belt to move, a plurality of compressible grooves are formed in the outer wall of the movable crawler belt, and the plurality of grooves are arranged along the length direction of the movable crawler belt. The moving device of the cleaning robot has good ground gripping force, can improve the slipping phenomenon, and has simple structure and good stability.

Description

Cleaning machines people's mobile device and cleaning machines people

Technical Field

The utility model relates to the technical field of robots, in particular to a cleaning robot moving device and a cleaning robot.

Background

With the development of modern society, the number of floors of urban buildings and commercial buildings is higher and higher, the problem of cleaning the glass of the outer glass window is a hard and dangerous thing, nowadays, many people design corresponding machines to solve the problem, but how to design a window cleaner which has simple structure and low cost and can stably move on the glass window so as to automatically clean for a long distance, and make a turn so as to continuously clean is a problem which needs to be considered.

Cleaning machines people on the market are mainly wheel sets of crawler belts basically, the crawler belts are usually layered in order to prevent the crawler belts from being elongated and ensure the strength of teeth, the hardness of the crawler belts is high, and silica gel with softer hardness is selected for a layer in contact with a glass surface to increase friction. Typically the track surface is smooth or has a transverse drainage channel.

When the cleaning robot walks on the glass surface, the phenomenon of skidding often appears, and in order to optimize the phenomenon of skidding of the wheel leather, the utility model can effectively improve the grip of the wheel leather and has simple and reliable structure.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a cleaning robot moving device and a cleaning robot, which can improve grip and slip, and have a simple structure and good stability, in order to solve the problem that the cleaning robot is easy to slip when the cleaning robot travels on a glass surface.

A moving device of a cleaning robot, comprising: a housing assembly; the driving wheel assembly is arranged on the shell assembly and can rotate relative to the shell assembly; the driving motor is connected with the driving wheel assembly and is used for driving the driving wheel assembly to rotate; the driving wheel assembly is arranged on the inner side of the moving crawler, the driving wheel assembly abuts against the inner wall of the moving crawler, the driving wheel assembly is used for driving the moving crawler to move, a plurality of compressible grooves are formed in the outer wall of the moving crawler, and the grooves are formed along the length direction of the moving crawler.

The application discloses cleaning machines people's mobile device, drive wheel subassembly are connected with driving motor and removal track respectively, and driving motor makes a wheel in the drive wheel subassembly rotate to drive and remove the track motion, under the transmission of removal track to drive power, the other wheel of drive wheel subassembly rotates, thereby realizes cleaning machines people's global motion. In the process of movement, under the pressure of the driving wheel assembly, the plurality of compressible groove spaces of the outer wall of the moving crawler belt are compressed to be small in volume, and air in the grooves is exhausted outwards. Because the air pressure in the groove is lower than the external atmospheric pressure, the groove wall of the groove is tightly attached to the door and window glass moving by the cleaning robot moving device under the action of the atmospheric pressure, so that the friction force between the cleaning robot moving device and the glass surface is improved, the cleaning robot can be effectively prevented from sliding off the glass surface, and the use safety of the cleaning robot is improved.

In addition, the moving device of the cleaning robot further comprises a shell assembly, wherein the shell assembly is used for positioning the driving wheel assembly on the inner surface of the moving track, and the moving device of the cleaning robot is prevented from driving the wheel assembly to slide out of the inner surface of the moving track during moving and traveling so as to influence the normal operation of the cleaning robot. Therefore, the design can improve the use reliability of the cleaning robot moving device.

In one embodiment, the outer wall of the moving crawler is provided with a plurality of ribs, and the ribs surround to form the grooves.

Foretell cleaning machines people's mobile device, it encloses to close through setting up a plurality of protruding muscle and forms a plurality of recesses to remove the track, it has sufficient compressible space to guarantee to remove the track surface, make and remove the track have under the prerequisite of sufficient absorption and supporting capacity, enclose through setting up protruding muscle and close and form the little space of recess, can pull out the protruding muscle that adsorbs in the glass surface easily under the prerequisite that need not great pull-out force, and then conveniently remove the phase separation of AND gate window glass surface, make things convenient for cleaning machines people's removal.

Optionally, the height of a plurality of protruding muscle is unanimous to moving the marcing of track is more steady, and the laminating of moving track outer wall and glass surface is inseparabler, and stability is better.

In one embodiment, the plurality of ribs is at least two groups, and the two groups of ribs are arranged at intervals.

According to the moving device of the cleaning robot, the plurality of compressible grooves of the moving track are arranged at intervals, and the gap is formed between the two groups of convex ribs, so that the compressible space of the outer wall of the moving track is increased, the pressure difference between the outer wall of the moving track and the atmospheric pressure is further increased, the friction force between the moving track and the surface of glass is further increased, the adhesion force of the moving device of the cleaning robot on door and window glass is stronger, and the use safety of the cleaning robot is further enhanced. In addition, a plurality of convex ribs on the outer wall of the movable crawler are arranged at intervals, and gaps are formed between the adjacent convex ribs, so that part of the convex ribs on the outer wall are separated from the surface of glass in the moving process of the movable crawler, and outside air enters into part of the grooves, so that the partial area of the movable crawler is separated from the surface of the glass door and window, and the cleaning robot is convenient to move.

In one embodiment, the groove is a circle, a triangle, a quadrangle, a pentagon, a hexagon, any irregular shape or a combination of shapes.

Foretell cleaning machines people's mobile device, recess be for circular, triangle-shaped, quadrangle, pentagon, hexagon, arbitrary one irregular shape or wherein the combination of multiple shape to increase the variety of moving track structure, make things convenient for the production and manufacture.

In one embodiment, the moving track is made of silicon rubber, rubber or any flexible material.

According to the moving device of the cleaning robot, the moving track is made of flexible materials such as silica gel and rubber, so that the compressibility of the groove in the outer surface of the moving track is improved, the moving track can be attached to the surface of the door and window glass more tightly, and the use safety of the cleaning robot is higher.

In one embodiment, the driving wheel assembly is a gear assembly including a driving gear and at least one driven gear, the driving gear is connected to the driving motor, the inner surface of the moving track is provided with teeth, and the driving gear and the driven gear can be respectively engaged with the teeth on the inner surface of the moving track.

According to the moving device of the cleaning robot, the driving wheel assembly is a gear assembly and comprises the driving gear and at least one driven gear, the inner surface of the moving track is provided with the tooth parts, the driving gear and the driven gear can be respectively meshed with the tooth parts on the inner surface of the moving track, so that the driving wheel assembly in the moving device of the cleaning robot can transmit the driving force of the motor more stably, the driving wheel assembly can be effectively prevented from slipping in the moving process and being out of the moving track at the offset position, and therefore the whole movement of the cleaning robot can be more stable and smooth due to the structure.

In one embodiment, the driving wheel assembly is a pulley assembly including a driving pulley connected to the driving motor and at least one driven pulley, and the moving track is snap-fitted to the surfaces of the driving pulley and the driven pulley.

In the moving device of the cleaning robot, the driving wheel assembly is a belt pulley assembly, the belt pulley assembly comprises a driving belt pulley and a driven belt pulley, the driving belt pulley is connected with the rotating shaft of the driving motor and transmits driving force, and the driving belt pulley and the driven belt pulley are respectively connected with the moving track so as to transmit the driving force. Through using the pulley assembly as the drive pulley assembly, can realize the transmission of great distance, and remove the form that the track used the belt, the belt has elasticity, can alleviate impact, reduce vibration, and the transmission is steady, when the drive pulley assembly met the obstacle, the belt can skid on the pulley assembly, consequently can prevent that the part from damaging. And the belt pulley component has simple and easy transmission, low cost, simple maintenance and convenient replacement.

In one embodiment, the housing assembly includes a first housing and a second housing, the first housing and the second housing enclose a cavity with an opening, the driving wheel assembly and the moving track are disposed in the cavity, and the moving track partially protrudes out of the opening of the cavity.

Foretell cleaning machines people's mobile device, casing subassembly detachably include first casing and second casing, and first casing encloses to close with the second casing and forms to have the open-ended and hold the chamber, and drive wheel subassembly and removal track setting are holding the intracavity, make drive wheel subassembly and removal track can fix a position better to protection cleaning machines people's mobile device overall structure's uniformity and stability.

In one embodiment, the driving motor is disposed on one of the first housing and the second housing, a motor shaft is disposed on the driving motor, the driving gear or the driving pulley is disposed with a first limiting hole adapted to the motor shaft, and the motor shaft of the driving motor is connected to the first limiting hole of the driving gear or the driving pulley in a snap-fit manner.

In one embodiment, a rotating shaft is further arranged on one of the first housing and the second housing, a second limiting hole matched with the rotating shaft is formed in the driven gear or the driven pulley, and the rotating shaft is connected with the second limiting hole of the driven gear or the driven pulley in a clamping mode.

In one embodiment, the driving motor is arranged on one of the first shell and the second shell, a motor shaft is arranged on the driving motor, the driving gear or the driving pulley is provided with a first limiting hole matched with the motor shaft, and the motor shaft of the driving motor is connected with the first limiting hole of the driving gear or the driving pulley in a clamping manner; the first casing with still be equipped with the axis of rotation on one of them of second casing, driven gear or driven pulley be equipped with the spacing hole of second of axis of rotation adaptation, the axis of rotation with the spacing hole block of second of driven gear or driven pulley is connected.

In the moving device of the cleaning robot, the motor shaft of the driving motor is connected with the first limiting hole of the driving gear or the driving belt pulley, so that the driving force of the driving motor is transmitted to the driving gear or the driving belt pulley. Meanwhile, under the rotation driving of the driving gear or the driving belt pulley, the relative motion of the moving track is realized, the driving force is transmitted to the driven gear and the driven belt pulley, the driven gear and the driven belt pulley are driven to rotate, and the moving track is promoted to move and walk. The structure can enable the moving of the moving track to be more stable, thereby improving the moving performance of the cleaning robot.

In one embodiment, the driving wheel assembly is provided with a limiting assembly, and the limiting assembly is arranged on two opposite side surfaces of the driving wheel assembly and can be abutted against the movable crawler.

According to the moving device of the cleaning robot, the limiting assembly is arranged on the driving wheel assembly and used for limiting the position of the driving wheel assembly on the inner surface of the moving track, so that the situation that the driving wheel assembly deviates in the rotating process of the moving track is prevented, and the problem that the driving wheel assembly is separated from the moving track to influence the overall movement of the cleaning robot can be effectively solved.

A cleaning robot, comprising: the cleaning robot comprises a supporting device, a scrubbing device and a moving device of the cleaning robot, wherein an open accommodating cavity is formed in the supporting device, the supporting device comprises a storage device, a water spraying opening and a walking guide rail, the walking guide rail and the scrubbing device are connected with the supporting device, the storage device and the water spraying opening are arranged in the accommodating cavity, and the moving device of the cleaning robot is arranged in the accommodating cavity and at least partially protrudes out of the supporting device.

The second aspect of the present application provides a cleaning robot, wherein the reservoir is used for storing detergent, the walking guide rail is used for guiding the moving travel of the cleaning robot, the water jet is used for spraying cleaning liquid and clear water, and the scrubbing device is used for scrubbing the window glass. According to the cleaning robot, the movable device is arranged, the convex ribs are arranged on the outer surface of the movable crawler, and the movable device and the glass surface are enclosed into the negative pressure bin during working, so that the ground gripping force of the cleaning robot is improved, and the slippage is improved.

Drawings

Fig. 1 is a schematic view of an overall structure of a moving device of a cleaning robot according to the present invention;

FIG. 2 is a schematic view of the outer surface of the moving track according to one embodiment of the present invention;

FIG. 3 is a schematic view of a moving track according to one embodiment of the present invention;

fig. 4 is a diagram illustrating the assembly of the housing assembly and the drive wheel assembly according to one embodiment of the present invention.

Wherein, the corresponding relation between the reference signs and the component names is as follows:

1, a shell assembly, 11 a first shell, 12 a second shell, 13, a rotating shaft and 101 cavities;

2 drive wheel assembly, 21 drive gear, 22 driven gear;

3 drive motor, 31 motor shaft;

4 moving the crawler belt, 401 grooves, 41 ribs and 42 teeth;

and 5, a limiting component.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The following describes a moving device of a cleaning robot and the cleaning robot according to some embodiments of the present invention with reference to the accompanying drawings.

As shown in fig. 1 to 2, the present embodiment discloses a moving device of a cleaning robot, including: a housing assembly 1; the driving wheel assembly 2 is arranged on the shell assembly 1, and the driving wheel assembly 2 can rotate relative to the shell assembly 1; the driving motor 3 is connected with the driving wheel assembly 2, and the driving motor 3 is used for driving the driving wheel assembly 2 to rotate; remove track 4, drive wheel assembly 2 sets up in removing track 4 inboard, and drive wheel assembly 2 offsets with the inner wall that removes track 4, and drive wheel assembly 2 is used for the drive to remove track 4 motion, is equipped with a plurality of compressible recesses 401 on the outer wall of removing track 4, and a plurality of recesses 401 set up along the length direction who removes track 4.

The application discloses cleaning machines people's mobile device, drive wheel subassembly 2 is connected with driving motor 3 and removal track 4 respectively, and driving motor 1 makes a wheel in the drive wheel subassembly 2 rotate to drive and remove 4 movements of track, under the transmission of removing 4 pairs of drive power of track, 2 other wheels of drive wheel subassembly rotate, thereby realize cleaning machines people's global motion. During the movement, the plurality of compressible grooves 401 of the outer wall of the moving track 4 are compressed to a smaller volume under the pressure of the driving wheel assembly 2, and the air in the grooves 401 is discharged to the outside. Because the air pressure in the groove 401 is lower than the external atmospheric pressure, under the action of the atmospheric pressure, the groove wall of the groove 401 is tightly attached to the door and window glass moving by the cleaning robot moving device, so that the friction force between the cleaning robot moving device and the glass surface is improved, the cleaning robot can be effectively prevented from sliding off the glass surface, and the use safety of the cleaning robot is improved.

In addition, the moving device of the cleaning robot further comprises a housing assembly 1, wherein the housing assembly 1 is used for positioning the driving wheel assembly 2 on the inner surface of the moving track 4, and the driving wheel assembly 2 is prevented from sliding out of the inner surface of the moving track 4 during moving and traveling of the moving device of the cleaning robot, so that the normal operation of the cleaning robot is prevented from being influenced. Therefore, the design can improve the use reliability of the cleaning robot moving device.

As shown in fig. 2 and 3, in addition to the features of the above embodiment, the present embodiment further defines: the outer wall of the moving crawler 4 is provided with a plurality of ribs 41, and the ribs 41 enclose to form a groove 401.

Foretell cleaning machines people's mobile device, remove track 4 and enclose through setting up a plurality of protruding muscle 41 and close a plurality of recesses 401 of formation, it has sufficient compressible space to guarantee to remove the track surface, make and remove track 4 have under the prerequisite of sufficient absorption and bearing capacity, enclose through setting up protruding muscle and close a little space of recess 401, can pull up the protruding muscle that adsorbs in the glass surface easily under the prerequisite that need not great pull-out power, and then conveniently remove track 4 and door window glass surface phase separation, make things convenient for cleaning machines people's removal.

Optionally, the height of the plurality of ribs 41 is consistent, so that the moving of the moving crawler 4 is more stable, the outer wall of the moving crawler 4 is attached to the glass surface more tightly, and the stability is better.

As shown in fig. 2 and 3, in the present embodiment, the plurality of ribs 41 is further provided in at least two groups, and the two groups of ribs 41 are spaced apart from each other.

In the moving device of the cleaning robot, the plurality of compressible grooves 401 of the moving track 4 are arranged at intervals, and gaps are formed between the two groups of convex ribs 41, so that the compressible space of the outer wall of the moving track 4 is increased, the pressure difference between the outer wall of the moving track 4 and the atmospheric pressure is further increased, the friction force between the moving track 4 and the surface of glass is further increased, the adhesive force of the moving device of the cleaning robot on door and window glass is further enhanced, and the use safety of the cleaning robot is further enhanced. In addition, a plurality of convex ribs 41 on the outer wall of the moving crawler 4 are arranged at intervals, and gaps are formed between the adjacent convex ribs 41, so that part of the convex ribs on the outer wall are separated from the glass surface in the moving process of the moving crawler 4, and outside air enters into part of the grooves, so that the partial area of the moving crawler 4 is separated from the surface of the door and window glass, and the cleaning robot is convenient to move.

As shown in fig. 2 and 3, in the present embodiment, the groove 401 is a circle, a triangle, a quadrangle, a pentagon, a hexagon, any irregular shape, or a combination of shapes thereof.

In the moving device of the cleaning robot, the groove 401 is a combination of a circle, a triangle, a quadrangle, a pentagon, a hexagon, any irregular shape or various shapes, so that the diversity of the structure of the moving track 4 is increased, and the production and the manufacture are convenient.

In this embodiment, the moving track 4 is made of silicon rubber, rubber or any flexible material.

According to the moving device of the cleaning robot, the moving crawler 4 is made of flexible materials such as silica gel and rubber, so that the compressibility of the groove 401 on the outer surface of the moving crawler 4 is improved, the moving crawler 4 can be attached to the surface of the door and window glass more tightly, and the use safety of the cleaning robot is higher.

As shown in fig. 1 and 4, in the present embodiment, the driving wheel assembly 2 is a gear assembly including a driving gear 21 and at least one driven gear 22, the driving gear 21 is connected to the driving motor 3, the inner surface of the moving track 4 is provided with teeth 42, and the driving gear 21 and the driven gear 22 can be respectively engaged with the teeth of the inner surface of the moving track 4.

In the moving device of the cleaning robot, the driving wheel assembly 2 is a gear assembly and comprises the driving gear 21 and at least one driven gear 22, the inner surface of the moving track 4 is provided with the tooth part 42, and the driving gear 21 and the driven gear 22 can be respectively meshed with the tooth part on the inner surface of the moving track 4, so that the driving wheel assembly 2 in the moving device of the cleaning robot can transmit the driving force of the motor more stably, and the driving wheel assembly 2 can be effectively prevented from slipping in the moving process and moving the outside of the moving track 4 at the offset position, therefore, the whole movement of the cleaning robot can be more stable and smooth due to the structure.

In this embodiment, the driving wheel assembly 2 is a pulley assembly comprising a driving pulley connected to the driving motor 3 and at least one driven pulley, the moving track 4 being in surface engaging connection with the driving pulley and the driven pulley.

In the moving device of the cleaning robot, the driving wheel assembly 2 is a belt pulley assembly, the belt pulley assembly comprises a driving belt pulley and a driven belt pulley, the driving belt pulley is connected with the rotating shaft of the driving motor 3 to transmit driving force, and the driving belt pulley and the driven belt pulley are respectively connected with the moving track to transmit the driving force. Through using the pulley assembly as the drive pulley assembly, can realize the transmission of great distance, and remove the form that 4 use belts of track, the belt has elasticity, can alleviate the impact, reduce the vibration, and the transmission is steady, when drive wheel assembly 2 meets the obstacle, the belt can skid on the pulley assembly, consequently can prevent that the part from damaging. And the belt pulley component has simple and easy transmission, low cost, simple maintenance and convenient replacement.

As shown in fig. 4, in the present embodiment, the housing assembly 1 includes a first housing 11 and a second housing 12, the first housing 11 and the second housing 12 enclose a cavity 101 having an opening, the driving wheel assembly 2 and the moving track 4 are disposed in the cavity 101, and a portion of the moving track 4 protrudes through the opening of the cavity 101.

According to the mobile device of the cleaning robot, the shell assembly 1 comprises the first shell 11 and the second shell 12 in a detachable mode, the first shell 11 and the second shell 12 are enclosed to form the cavity 101 with the opening, the driving wheel assembly 2 and the moving crawler 4 are arranged in the cavity 101, the driving wheel assembly 2 and the moving crawler 4 can be positioned better, and therefore the uniformity and the stability of the overall structure of the mobile device of the cleaning robot are protected.

As shown in fig. 4, in the present embodiment, a driving motor 3 is disposed on one of the first housing 11 and the second housing 12, a motor shaft 31 is disposed on the driving motor 3, the driving gear 21 or the driving pulley is disposed with a first limiting hole adapted to the motor shaft 31, and the motor shaft 31 of the driving motor 3 is connected to the driving gear 21 or the first limiting hole of the driving pulley in a clamping manner.

As shown in fig. 4, in this embodiment, a rotation shaft 13 is further disposed on one of the first housing 11 and the second housing 12, the driven gear 22 or the driven pulley is disposed with a second limiting hole adapted to the rotation shaft 13, and the rotation shaft 13 is connected to the driven gear 22 or the second limiting hole of the driven pulley in a snap-fit manner.

As shown in fig. 4, in the present embodiment, a driving motor 3 is disposed on one of the first housing 11 and the second housing 12, a motor shaft 31 is disposed on the driving motor 3, the driving gear 21 or the driving pulley is disposed with a first limiting hole adapted to the motor shaft 31, and the motor shaft 31 of the driving motor 3 is connected with the driving gear 21 or the first limiting hole of the driving pulley in a clamping manner; one of the first housing 11 and the second housing 12 is further provided with a rotating shaft 13, the driven gear 22 or the driven pulley is provided with a second limiting hole matched with the rotating shaft 13, and the rotating shaft 13 is connected with the second limiting hole of the driven gear 22 or the driven pulley in a clamping manner.

In the moving device of the cleaning robot, the motor shaft 11 of the driving motor 1 is connected to the first limit hole of the driving gear 21 or the driving pulley, so that the driving force of the driving motor 1 is transmitted to the driving gear 21 or the driving pulley. Meanwhile, the relative movement of the moving track 4 is realized by the rotation driving of the driving gear 21 or the driving pulley, and the driving force is transmitted to the driven gear 22 and the driven pulley, so that the driven gear 22 and the driven pulley are driven to rotate, and the moving travel of the moving track 4 is promoted. The above-described structure can make the movement of the moving track 4 more stable, thereby improving the moving performance of the cleaning robot.

As shown in fig. 4, in the present embodiment, the driving wheel assembly 2 is provided with the limiting assemblies 5, and the limiting assemblies 5 are disposed on opposite side surfaces of the driving wheel assembly 2 and can be abutted against the moving track 4.

According to the moving device of the cleaning robot, the limiting component 5 is arranged on the driving wheel component 2, the limiting component 5 is used for limiting the position of the driving wheel component 2 on the inner surface of the moving track 4, the situation that the driving wheel component 2 deviates in the rotating process in the moving track 4 is prevented, and the problem that the driving wheel component 2 is separated from the moving track 4 to influence the overall movement of the cleaning robot can be effectively prevented.

An embodiment of a second aspect of the present invention provides a cleaning robot including: the cleaning robot comprises a supporting device, a cleaning device and a moving device of the cleaning robot, wherein an open accommodating cavity is formed in the supporting device, the supporting device comprises a storage device, a water spraying opening and a walking guide rail, the walking guide rail and the cleaning device are connected with the supporting device, the storage device and the water spraying opening are arranged in the accommodating cavity, and the moving device of the cleaning robot is arranged in the accommodating cavity and at least partially protrudes out of the supporting device.

In a second aspect of the present application, there is provided a cleaning robot, wherein the reservoir is used for storing a cleaning agent, the traveling guide is used for guiding the traveling of the cleaning robot, the water jet is used for spraying a cleaning liquid and clean water, and the scrubbing device is used for scrubbing window and door glasses. According to the cleaning robot, the moving device is arranged, the convex ribs 41 are arranged on the outer surface of the moving crawler 4, and a negative pressure cabin is formed by enclosing the moving device and the glass surface during working, so that the ground holding force of the cleaning robot is improved, and the slippage is improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims (10)

1. A mobile device of a cleaning robot, comprising:

a housing assembly (1);

the driving wheel assembly (2) is arranged on the shell assembly (1), and the driving wheel assembly (2) can rotate relative to the shell assembly (1);

the driving motor (3), the driving motor (3) is connected with the driving wheel assembly (2), and the driving motor (3) is used for driving the driving wheel assembly (2) to rotate;

remove track (4), drive wheel subassembly (2) set up in it is inboard to remove track (4), drive wheel subassembly (2) with the inner wall of removing track (4) offsets, drive wheel subassembly (2) are used for the drive remove track (4) motion, be equipped with a plurality of compressible recesses (401) on the outer wall of removing track (4), a plurality of recesses (401) are along the length direction of removing track (4) sets up.

2. The moving device of a cleaning robot according to claim 1, characterized in that the outer wall of the moving track (4) is provided with a plurality of ribs (41), the ribs (41) enclosing to form the grooves (401).

3. The moving device of a cleaning robot as claimed in claim 2, wherein the plurality of ribs (41) are provided in at least two sets, and the two sets of ribs (41) are spaced apart from each other.

4. The moving device of a cleaning robot according to claim 1, wherein the groove (401) is a circle, a triangle, a quadrangle, a pentagon, a hexagon, any irregular shape or a combination of shapes thereof.

5. The moving device of the cleaning robot as claimed in claim 1, wherein the moving track (4) is made of silicone, rubber or any flexible material.

6. The mobile device of a cleaning robot according to claim 1, characterized in that the driving wheel assembly (2) is a gear assembly comprising a driving gear (21) and at least one driven gear (22), the driving gear (21) being connected to the driving motor (3), the inner surface of the moving track (4) being provided with teeth (42), the driving gear (21) and the driven gear (22) being capable of meshing with the teeth (42) of the inner surface of the moving track (4), respectively; or

The driving wheel assembly (2) is a belt pulley assembly, the belt pulley assembly comprises a driving belt pulley and at least one driven belt pulley, the driving belt pulley is connected with the driving motor (3), and the movable crawler belt (4) is connected with the surface clamping of the driving belt pulley and the surface clamping of the driven belt pulley.

7. The mobile device of a cleaning robot according to claim 6, characterized in that the housing assembly (1) comprises a first housing (11) and a second housing (12), the first housing (11) and the second housing (12) enclose a cavity (101) with an opening, the driving wheel assembly (2) and the moving track (4) are arranged in the cavity (101), and the moving track (4) partially protrudes out of the opening of the cavity (101).

8. The moving device of a cleaning robot according to claim 7, wherein one of the first housing (11) and the second housing (12) is provided with the driving motor (3), the driving motor (3) is provided with a motor shaft (31), the driving gear (21) or the driving pulley is provided with a first limiting hole adapted to the motor shaft (31), and the motor shaft (31) of the driving motor (3) is connected with the first limiting hole of the driving gear (21) or the driving pulley in a clamping manner; and/or

First casing (11) with still be equipped with axis of rotation (13) on one of them of second casing (12), driven gear (22) or driven pulley be equipped with the spacing hole of second of axis of rotation (13) looks adaptation, axis of rotation (13) with the spacing hole block of second of driven gear (22) or driven pulley is connected.

9. The mobile device of a cleaning robot as claimed in claim 1, characterized in that the drive wheel assembly (2) is provided with a limit assembly (5), the limit assembly (5) being arranged on opposite sides of the drive wheel assembly (2) and being capable of abutting against the moving track (4).

10. A cleaning robot, characterized by comprising: the cleaning robot comprises a supporting device, a scrubbing device and a moving device of the cleaning robot according to any one of claims 1 to 9, wherein an open accommodating cavity is formed in the supporting device, the supporting device comprises a storage device, a water spraying opening and a walking guide rail, the walking guide rail and the scrubbing device are connected with the supporting device, the storage device and the water spraying opening are arranged in the accommodating cavity, and the moving device of the cleaning robot is arranged in the accommodating cavity and at least partially protrudes out of the supporting device.

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