CN217659589U - Walking wheel subassembly and cleaning machines people - Google Patents

Abstract

The application discloses walking wheel subassembly and cleaning machines people, walking wheel subassembly are used for cleaning machines people, and cleaning machines people includes cleaning machines people body and walking wheel subassembly, and the cleaning machines people body advances at the working surface through walking wheel subassembly, and walking wheel subassembly includes: a shaft connected to the cleaning robot body; a wheel carrier rotatably connected to the shaft; the travelling wheel is rotatably connected with the wheel carrier; the rocker is connected with the shaft; the driving device is used for driving the rocker to rotate around the central line of the shaft, the rocker abuts against the wheel carrier when rotating, the wheel carrier is driven to rotate around the shaft, the walking wheel is far away from or close to the cleaning robot body, and therefore the cleaning robot body is lifted or lowered relative to a working surface. According to the walking wheel assembly and the cleaning robot, the cleaning robot can effectively cross obstacles in the operation process.

Description

Walking wheel subassembly and cleaning machines people

Technical Field

The application relates to the technical field of automatic cleaning equipment, in particular to a walking wheel assembly and a cleaning robot.

Background

At present, a driving wheel train of a cleaning robot (such as a sweeping robot, a mopping robot and the like) has no structure for automatically adjusting the height, and a chassis of the robot is basically close to the ground when the robot performs cleaning operation.

For obstacles such as wires, non-slip mats, carpets, peanut shells on the ground, the height of the obstacles is usually higher than the gap between the chassis and the ground, the cleaning robot cannot usually cross when encountering the obstacles in the operation process, and the obstacles can also easily cause the cleaning robot to be stuck and cannot move.

In addition, the robot can not actively adjust the height of the chassis in the cleaning operation process, directly influences the distance between the suction port and the ground, and influences the cleaning effect.

Therefore, improvements are required to solve the above problems.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content does not imply any attempt to define the essential features and essential features of the claimed solution, nor is it implied to be intended to define the scope of the claimed solution.

To the problem that exists among the prior art, according to the utility model discloses a first aspect provides a walking wheel subassembly, walking wheel subassembly is used for cleaning machines people, cleaning machines people include the cleaning machines people body with the walking wheel subassembly, the cleaning machines people body passes through the walking wheel subassembly is marchd at the working surface, walking wheel subassembly includes:

a shaft connected to the cleaning robot body;

a wheel carrier rotatably connected to the shaft;

the travelling wheel is rotatably connected to the wheel carrier;

a rocker connected to the shaft;

the driving device is used for driving the rocker to rotate around the central line of the shaft, the rocker abuts against the wheel carrier when rotating, the wheel carrier is driven to rotate around the shaft, the traveling wheel is far away from or close to the cleaning robot body, and therefore the cleaning robot body is lifted or lowered relative to the working surface.

Illustratively, a first end of the rocker is connected to the shaft, and a second end of the rocker abuts against the wheel carrier when the rocker rotates, so as to drive the wheel carrier to rotate around the shaft.

Illustratively, the rocker is crescent-shaped, and the second end of the rocker is provided with an auxiliary wheel which is rotatably connected with the second end of the rocker;

when the rocker rotates, the auxiliary wheel is abutted to the wheel carrier to drive the wheel carrier to rotate around the shaft.

Exemplarily, a convex part is fixedly arranged on the wheel frame;

when the rocker rotates, the auxiliary wheel is abutted against one side of the protruding part facing the auxiliary wheel, and the wheel carrier is driven to rotate around the shaft.

Exemplarily, the walking wheel assembly further comprises a motor, the motor is connected to the wheel carrier, and the motor is in transmission connection with the walking wheel and used for driving the walking wheel to rotate.

Exemplarily, the wheel carrier comprises a shaft sleeve, the shaft sleeve is sleeved on the shaft, the shaft sleeve is in clearance fit with the shaft, and the wheel carrier is rotatably connected with the shaft through the shaft sleeve; or the like, or, alternatively,

the wheel carrier comprises a bearing, the bearing is sleeved on the shaft, the bearing is in interference fit with the shaft, and the wheel carrier is rotatably connected with the shaft through the bearing.

Illustratively, the rocker is fixedly connected with the shaft, the driving device is in transmission connection with the shaft, the driving device drives the shaft to rotate, and the shaft drives the rocker to rotate when rotating.

Exemplarily, the driving device comprises a rotating motor, and an output shaft of the rotating motor is in transmission connection with the shaft through a gear; or the like, or, alternatively,

the driving device comprises a linear motor or an air cylinder, and the output end of the linear motor or the air cylinder is in transmission connection with the shaft through a rack and a gear.

Illustratively, the rocker is rotatably connected with the shaft;

the driving device comprises a rotating motor, and an output shaft of the rotating motor is in transmission connection with the rocker through a gear; or the like, or a combination thereof,

the driving device comprises a linear motor or an air cylinder, and the output end of the linear motor or the air cylinder is in transmission connection with the rocker through a rack and a gear.

According to a second aspect of the present invention, there is provided a cleaning robot comprising a cleaning robot body and a travelling wheel assembly as described above, the cleaning robot body travelling over a work surface via the travelling wheel assembly;

the cleaning robot body comprises a shell and a cleaning module arranged on the shell, and the cleaning module is used for cleaning the working surface.

According to the utility model discloses a walking wheel subassembly and cleaning machines people can make cleaning machines people's body rise and reduce for cleaning machines people's working surface (for example ground) to make cleaning machines people can effectively stride across the barrier, when being provided with the suction inlet on the cleaning machines people body, also can adjust the distance of suction inlet and working surface through the lifting cleaning machines people body, promote clean effect.

Drawings

The following drawings of the present application are included to provide an understanding of the present application. The drawings illustrate embodiments of the application and their description, serve to explain the principles and apparatus of the application. In the drawings, there is shown in the drawings,

fig. 1 is a schematic structural view of a walking wheel assembly according to an embodiment of the present invention;

FIG. 2 is a schematic view of a cleaning robot having the walking wheel assembly of the embodiment of FIG. 1 in an un-lifted state relative to a work surface, wherein the cleaning robot is not fully illustrated;

FIG. 3 is a schematic view of a cleaning robot having the walking wheel assembly of the embodiment of FIG. 1 in a raised position relative to a work surface, wherein the cleaning robot is not fully illustrated.

Description of the reference numerals:

100-shaft, 110-wheel frame, 111-bulge, 112-shaft sleeve, 120-walking wheel, 130-rocker, 131-auxiliary wheel, 140-first motor, 150-second motor and 160-gear box;

200-cleaning the robot body;

300-working surface.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art, that the present application may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present application.

It is to be understood that the present application is capable of implementation in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art. In the drawings, the size and relative sizes of layers and regions may be exaggerated for clarity. Like reference numerals refer to like elements throughout.

Spatial relational terms such as "under," "below," "under," "above," "over," and the like may be used herein for convenience in describing the relationship of one element or feature to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

Embodiments of the invention are described herein with reference to cross-sectional illustrations that are schematic illustrations of idealized embodiments (and intermediate structures) of the present application. As such, variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and/or tolerances, are to be expected. Thus, embodiments of the present application should not be limited to the particular shapes of regions illustrated herein but are to include deviations in shapes that result, for example, from manufacturing. Thus, the regions illustrated in the figures are schematic in nature and their shapes are not intended to illustrate the actual shape of a region of a device and are not intended to limit the scope of the present application.

A walking wheel assembly according to an embodiment of the present invention is exemplified with reference to fig. 1 to 3.

The utility model provides a walking wheel assembly, this walking wheel assembly are applied to cleaning machines people, and cleaning machines people includes cleaning machines people body 200 and walking wheel subassembly.

The cleaning robot body 200 includes a housing and a cleaning module disposed on the housing for cleaning a working surface 300 of the cleaning robot (e.g., a floor, a carpet, etc. surface to be cleaned by the cleaning robot). The cleaning module can be fixedly arranged on the shell and can also be detachably arranged on the shell. The cleaning module may include a sweeping module and/or a mopping module. The sweeping module can comprise a sweeping brush head, a motor for driving the sweeping brush head to rotate, a dust suction port, a fan, a dust box and the like. The mopping module can comprise a mopping brush head, a motor for driving the mopping brush head to rotate, a clean water tank, a clean water nozzle, a sewage tank, a sewage suction port, a water pump and the like. The cleaning robot body 200 may further include a sensor module provided on the housing, the sensor module may include a laser radar, and the sensor module may be used to identify an obstacle in a traveling direction of the robot.

The traveling wheel assembly is connected to the cleaning robot body 200, and the cleaning robot body 200 travels on the work surface 300 by the traveling wheel assembly to clean the work surface 300.

In this embodiment, the road wheel assembly includes a shaft 100, a wheel carrier 110, road wheels 120, a first motor 140, a rocker 130, a second motor 150, and a gearbox 160.

The shaft 100 is rotatably connected with the cleaning robot body 200. In this embodiment, one end of the shaft 100 is rotatably connected to the gear box 160, the gear box 160 is fixedly connected to the cleaning robot body 200, and the other end of the shaft 100 is rotatably connected to the cleaning robot body 200, for example, a housing of the cleaning robot, so that the shaft 100 can rotate about its center line with respect to the cleaning robot body 200. The shaft 100 and the gear box 160 and the robot body may be rotatably connected by bearings.

The wheel frame 110 is rotatably connected to the shaft 100 and can rotate freely around the shaft 100, and the rotation of the shaft 100 itself will not drive the wheel frame 110 to rotate. Specifically, in the embodiment, a shaft sleeve 112 is fixedly disposed at one end of the wheel carrier 110, the shaft sleeve 112 may be cylindrical and is sleeved on the shaft 100 to be in clearance fit with the shaft 100, and the wheel carrier 110 is rotatably connected with the shaft 100 through the shaft sleeve 112. In some other embodiments, one end of the wheel carrier 110 may be fixedly provided with a bearing, the bearing is sleeved on the shaft 100, the bearing is in interference fit with the shaft 100, and the wheel carrier 110 is rotatably connected with the shaft 100 through the bearing. In the present embodiment, at least two limiting parts for limiting an angle at which the wheel frame 110 is rotatable with respect to the shaft 100 are provided on the cleaning robot body 200 (e.g., on a housing of the cleaning robot). Specifically, when the wheel frame 110 rotates clockwise and counterclockwise around the shaft 100 to a certain angle, the limiting portion may form a stop for the wheel frame 110 so that the wheel frame 110 cannot rotate any more, so that the wheel frame 110 can only rotate within a preset angle range, for example, the angle range is smaller than 90 °.

The traveling wheels 120 are rotatably connected to the wheel frame 110, the traveling wheels 120 are rotatable about their centers with respect to the wheel frame 110, and the cleaning robot body 200 travels on the work surface 300 by the rotation of the traveling wheels 120. When the wheel carrier 110 rotates relative to the shaft 100, the position of the traveling wheel 120 relative to the cleaning robot body 200 changes, that is, the traveling wheel 120 moves away from or approaches the robot body along with the rotation of the wheel carrier 110, and it should be noted that the approaching or the departing refers to the increase or decrease of the distance between the center of the traveling wheel 120 and the cleaning robot body 200 in the direction perpendicular to the working surface 300. Since the road wheels 120 are located on the working surface 300, accordingly, as the wheel frame 110 rotates, the distance of the cleaning robot body 200 from the ground is increased or decreased, that is, the cleaning robot body 200 is raised or lowered with respect to the working surface 300.

The first motor 140 is disposed on the wheel frame 110, the first motor 140 may be a rotating motor, an output shaft of the first motor 140 is in transmission connection with the traveling wheel 120, and is used for driving the traveling wheel 120 to rotate, and the traveling wheel 120 rotates to drive the cleaning robot body 200 to move on the working surface 300. Specifically, the output shaft of the first motor 140 and the road wheels 120 may be connected by a gear transmission. In some embodiments, the output shaft of the first motor 140 and the road wheels 120 may also be connected by a belt drive. In some embodiments, the first motor 140 may not be disposed on the wheel carrier 110. For example, a plurality of traveling wheel assemblies may be connected to the cleaning robot body 200, the traveling wheels 120 of some of the traveling wheel assemblies may be used as driving wheels, the traveling wheels 120 of some of the traveling wheel assemblies may be used as driven wheels, and the first motor 140 is not disposed on the wheel carrier 110 of the traveling wheel assembly in which the traveling wheels 120 are used as driven wheels, so as to reduce the cost.

The rocker 130 is connected to the shaft 100 and can rotate around the center line of the shaft 100, and the rocker 130 abuts against the wheel frame 110 when rotating, thereby driving the wheel frame 110 to rotate around the shaft 100. The shape of the rocker 130 can be any suitable shape, such as crescent, linear or other irregular shapes, in one embodiment, the rocker 130 can be crescent shaped, with two narrow ends and a wide middle, and the rocker 130 can be arranged in a crescent shape to bear larger force, which is similar to an arch bridge in principle. The first end of the rocker 130 is fixedly connected to the shaft 100, the rocker 130 can rotate synchronously with the rotation of the shaft 100, the second end of the rocker 130 is provided with an auxiliary wheel 131, and the auxiliary wheel 131 is rotatably connected to the second end of the rocker 130. When the rocker 130 rotates, the auxiliary wheel 131 abuts against the wheel frame 110, and drives the wheel frame 110 to rotate around the shaft 100. The auxiliary wheel 131 can reduce friction when the rocker 130 pushes the wheel carrier 110 to rotate, and assist the sliding smoothly. In order to better cooperate with the rocker 130, the wheel frame 110 is fixedly provided with a protrusion 111, one side of the protrusion 111 facing the auxiliary wheel 131 is provided with a joint surface with the auxiliary wheel 131, and when the rocker 130 rotates, the auxiliary wheel 131 abuts against the joint surface of the protrusion 111 facing the auxiliary wheel 131, so as to drive the wheel frame 110 to rotate around the shaft 100. In other embodiments, the auxiliary wheel 131 may not be disposed at the second end of the rocker 130, and the second end of the rocker 130 directly abuts against the wheel frame 110 or the protrusion 111 on the wheel frame 110 when the rocker 130 rotates, so as to push the wheel frame 110 to rotate around the shaft 100.

The second motor 150 is used as a driving device for driving the rocker 130 to rotate around the center line of the shaft 100. Specifically, the second motor 150 may be in transmission connection with the shaft 100 through a gear, and is used for driving the shaft 100 to rotate around the central line thereof, and since the first end of the rocker 130 is fixedly connected to the shaft 100, the shaft 100 may also drive the rocker 130 to rotate around the central line of the shaft 100 when rotating. In this embodiment, the second motor 150 may be a rotary motor, the output shaft of which is drivingly connected to the shaft 100 through gears in the gear box 160. The output shaft of the second motor 150 is perpendicular to the shaft 100, the part of the output shaft of the second motor 150 in the gear box 160 is fixedly connected with a bevel gear, the part of the shaft 100 in the gear box 160 is also connected with a bevel gear, and the second motor 150 is in transmission connection with the shaft 100 through the bevel gear. In other embodiments, the output shaft of the second motor 150 may be parallel to the shaft 100, and in this case, the second motor 150 and the shaft 100 may be connected through two or more cylindrical gears. In other embodiments, the second motor 150 may also be a linear motor, and the output end of the linear motor is connected to the shaft 100 through a rack and pinion transmission, and the rack and pinion may convert the linear motion output by the linear motor into the rotational motion of the shaft 100. In other embodiments, the second motor 150 may be replaced by an air cylinder, and the output end of the air cylinder is in transmission connection with the shaft 100 through a rack and a gear, and the rack and the gear can convert the linear motion output by the air cylinder into the rotary motion of the shaft 100.

The operation of the walking wheel assembly according to the present embodiment is illustrated with reference to fig. 2-3.

Referring to fig. 2, when the cleaning robot having the above-described traveling wheel assembly is in a non-lifted state with respect to the working surface 300, the traveling wheels 120 approach the cleaning robot body 200, the distance between the cleaning robot body 200 and the working surface 300 is small, and the wheel frame 110 can freely rotate around the shaft 100, which may be a working state when the cleaning robot performs cleaning normally. Referring to fig. 3, when the cleaning robot encounters an obstacle during traveling, for example, when a sensor module on the cleaning robot body 200 detects that there is an obstacle in the traveling direction, the second motor 150 may be controlled to drive the shaft 100 to rotate counterclockwise around the center line thereof, and since the first end of the rocker 130 is fixedly connected to the shaft 100, the shaft 100 drives the rocker 130 to rotate counterclockwise around the center line of the shaft 100, and when the rocker 130 rotates counterclockwise, the auxiliary wheel 131 at the second end of the rocker 130 abuts against the protruding portion 111 on the wheel frame 110, and then the wheel frame 110 is pushed to rotate counterclockwise around the shaft 100, so that the road wheels 120 on the wheel frame 110 are far away from the cleaning robot body 200 in the direction of the working surface 300 (downward in fig. 3), and the distance between the cleaning robot body 200 and the working surface 300 is increased accordingly, that is, the cleaning robot body 200 rises relative to the working surface 300, and the cleaning robot can effectively cross the obstacle, and is prevented from being blocked by the obstacle and unable to move. Accordingly, after the cleaning robot crosses an obstacle, the second motor 150 may be controlled to drive the shaft 100 to rotate clockwise around the central line thereof, the shaft 100 may drive the rocker 130 to rotate clockwise around the central line of the shaft 100 when rotating clockwise, and under the action of gravity, the wheel carrier 110 may also rotate clockwise around the shaft 100 along with the rotation of the rocker 130, so that the road wheels 120 on the wheel carrier 110 may approach the cleaning robot body 200 in a direction (upward in fig. 3) away from the working surface 300, and the distance between the cleaning robot body 200 and the working surface 300 may also decrease, that is, the cleaning robot body 200 may be lowered relative to the working surface 300, thereby restoring to a normal working state. In some embodiments, when the cleaning robot body 200 is provided with the dust suction opening, the cleaning robot body 200 can be actively raised or lowered relative to the working surface 300 in the above manner, so that the distance between the dust suction opening and the working surface 300 is adjusted to improve the cleaning effect on the sundries with different heights. For the cleaning robot body 200, three or more walking wheel assemblies may be connected, and each walking wheel assembly may be lifted synchronously or independently to realize crossing over of less obstacles.

In other embodiments of the road wheel assembly, the road wheel assembly comprises a shaft, a wheel carrier, a road wheel, a rocker, and a drive mechanism. The shaft is fixedly connected with the cleaning robot body, namely the shaft cannot rotate relative to the robot body. The shaft may be directly or indirectly connected to the cleaning robot body, and the indirect connection means that the shaft is connected to a member fixed to the cleaning robot body. The wheel carrier is rotatably connected to the shaft, and the wheel carrier and the connection manner with the shaft may be the same as the above embodiments, and are not described herein again. The traveling wheels are rotatably connected to the wheel carrier. The rocker is rotationally connected to the shaft, specifically, a through hole can be formed in the first end of the rocker, and the rocker is in clearance fit with the shaft through the through hole to achieve rotatable connection with the shaft. In some embodiments, the rocker may also be rotatably coupled to the shaft by a bearing. The driving device directly drives the rocker to rotate around the shaft, when the rocker rotates around the shaft, one end of the rocker far away from the shaft is directly abutted against the wheel carrier or is abutted against the wheel carrier through the auxiliary wheel, the wheel carrier is driven to rotate around the shaft, the walking wheel is far away from or close to the cleaning robot body, and therefore the cleaning robot body is lifted or lowered relative to a working surface. Specifically, the driving device may include a rotating electrical machine, an output shaft of the rotating electrical machine is in transmission connection with the rocker through a gear, for example, when the output shaft of the rotating electrical machine is parallel to the shaft, the output shaft of the rotating electrical machine is fixedly connected with a cylindrical gear, the rocker is fixedly provided with a cylindrical gear coaxial with the shaft, and the rotating electrical machine is in transmission connection with the rocker through the cylindrical gear; when the output shaft of the rotating motor is vertical to the shaft, the output shaft of the rotating motor is fixedly connected with a bevel gear, the rocker is fixedly provided with the bevel gear coaxial with the shaft, and the rotating motor is in transmission connection with the rocker through the bevel. The driving device can also comprise a linear motor, the output end of the linear motor is fixedly connected with a rack, a cylindrical gear coaxial with the shaft is fixedly arranged on the rocker, and the linear motor is in transmission connection with the rocker through the rack and the gear. The driving device can also comprise an air cylinder, the output end of the air cylinder is fixedly connected with a rack, a cylindrical gear coaxial with the shaft is fixedly arranged on the rocker, and the air cylinder is in transmission connection with the rocker through the rack and the gear.

The utility model also provides a cleaning robot, it includes as above cleaning robot body and as above walking wheel subassembly.

According to the utility model discloses a cleaning machines people can adjust cleaning machines people body and working surface's height to effectively stride across the obstacle, avoid being blocked by the obstacle and lead to unable removal. The walking wheel assembly drives the wheel carrier to rotate to lift or lower the cleaning robot body through the rocker which is arranged to rotate coaxially with the wheel carrier, and the cleaning robot body is compact in design structure, small in occupied space, wide in adjustable range and high in applicability.

Although the example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above-described example embodiments are merely illustrative and are not intended to limit the scope of the present application thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the present application, various features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present application should not be construed to reflect the intent: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Claims (10)

1. A road wheel assembly for a cleaning robot, the cleaning robot comprising a cleaning robot body and a road wheel assembly, the cleaning robot body traveling at a work surface through the road wheel assembly, the road wheel assembly comprising:

a shaft connected to the cleaning robot body;

a wheel carrier rotatably connected to the shaft;

the travelling wheel is rotatably connected to the wheel carrier;

a rocker connected to the shaft;

the driving device is used for driving the rocker to rotate around the central line of the shaft, the rocker abuts against the wheel carrier when rotating, the wheel carrier is driven to rotate around the shaft, the traveling wheel is far away from or close to the cleaning robot body, and therefore the cleaning robot body is lifted or lowered relative to the working surface.

2. The road wheel assembly of claim 1,

the first end of the rocker is connected to the shaft, and the second end of the rocker abuts against the wheel carrier when the rocker rotates, so that the wheel carrier is driven to rotate around the shaft.

3. The road wheel assembly of claim 2,

the rocker is crescent, the second end of the rocker is provided with an auxiliary wheel, and the auxiliary wheel is rotatably connected to the second end of the rocker;

when the rocker rotates, the auxiliary wheel is abutted to the wheel carrier to drive the wheel carrier to rotate around the shaft.

4. The road wheel assembly of claim 3,

the wheel carrier is fixedly provided with a convex part;

when the rocker rotates, the auxiliary wheel is abutted against one side of the protruding part facing the auxiliary wheel, and the wheel carrier is driven to rotate around the shaft.

5. The road wheel assembly of claim 1,

the walking wheel assembly further comprises a motor, the motor is connected to the wheel carrier, and the motor is in transmission connection with the walking wheel and used for driving the walking wheel to rotate.

6. The road wheel assembly of claim 1,

the wheel carrier comprises a shaft sleeve, the shaft sleeve is sleeved on the shaft, the shaft sleeve is in clearance fit with the shaft, and the wheel carrier is rotatably connected with the shaft through the shaft sleeve; or the like, or a combination thereof,

the wheel carrier comprises a bearing, the bearing is sleeved on the shaft, the bearing is in interference fit with the shaft, and the wheel carrier is rotatably connected with the shaft through the bearing.

7. The road wheel assembly of any of claims 1-6,

the rocker is fixedly connected with the shaft, the driving device is in transmission connection with the shaft, the driving device drives the shaft to rotate, and the shaft drives the rocker to rotate when rotating.

8. The road wheel assembly of claim 7,

the driving device comprises a rotating motor, and an output shaft of the rotating motor is in transmission connection with the shaft through a gear; or the like, or, alternatively,

the driving device comprises a linear motor or an air cylinder, and the output end of the linear motor or the air cylinder is in transmission connection with the shaft through a rack and a gear.

9. The road wheel assembly of any of claims 1-6,

the rocker is rotatably connected with the shaft;

the driving device comprises a rotating motor, and an output shaft of the rotating motor is in transmission connection with the rocker through a gear; or the like, or, alternatively,

the driving device comprises a linear motor or an air cylinder, and the output end of the linear motor or the air cylinder is in transmission connection with the rocker through a rack and a gear.

10. A cleaning robot is characterized in that a cleaning robot body,

comprising a cleaning robot body and the road wheel assembly of any of claims 1-9, the cleaning robot body traveling over a work surface via the road wheel assembly;

the cleaning robot body comprises a shell and a cleaning module arranged on the shell, and the cleaning module is used for cleaning the working surface.

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