CN217987485U - Running gear and cleaning robot - Google Patents

Abstract

The application belongs to the technical field of cleaning device, especially, relate to a running gear and cleaning machines people, running gear includes: the supporting legs are used for contacting with the working surface; and the driving assembly is connected with the supporting legs and used for driving the supporting legs to rotate along a preset circular track and push the machine body. The cleaning robot comprises a machine body and the traveling mechanism, wherein the driving assembly is connected to the machine body. The application provides a running gear and cleaning machines people utilizes foretell running gear to come to provide drive power for cleaning machines people, and at the in-process that cleaning machines people removed, even if meet flexible barriers such as cable, perhaps at carpet and flexible working face such as bed, also can the steady movement, effectively overcome the cleaning machines people who exists among the prior art and remove the not good enough problem of reliability.

Description

Running gear and cleaning robot

Technical Field

The application belongs to the technical field of cleaning equipment, and particularly relates to a traveling mechanism and a cleaning robot.

Background

With the development of society, various novel household electrical appliances emerge endlessly, and the cleaning robot serving as a representative household electrical appliance can clean the indoor environment through the cleaning assembly carried by the cleaning robot so as to reduce the housework burden of users.

Cleaning robots generally include a sweeping robot, a mite removing robot, and the like according to different application scenes, and these cleaning robots are generally provided with traveling mechanisms, so that the displacement of the cleaning robots is realized by using the traveling mechanisms. However, the existing cleaning robot generally adopts a wheel or crawler-type structure to realize displacement, and in the process of realizing movement by using the traveling mechanisms, some flexible obstacles (such as cables, wool and the like) are easy to be clamped into the traveling mechanisms, and some flexible working surfaces (such as on a bed, a carpet and the like) cannot provide enough support and friction for the traveling mechanisms of the cleaning robot, so that the movement and the work of the cleaning robot are affected, and the movement reliability of the cleaning robot is poor.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a traveling mechanism and a cleaning robot, so as to solve the technical problem that the traveling mechanism of the cleaning robot in the prior art is poor in moving reliability.

In order to achieve the above purpose, the embodiment of the present application adopts the following technical solutions:

in one aspect, an embodiment of the present application provides a traveling mechanism, which is used for connecting a machine body and driving the machine body to move, and includes:

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

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

Optionally, the driving assembly includes a driving component and a transmission component connected to the driving component, and the transmission component is connected to the supporting leg and is used for transmitting the power of the driving component to the supporting leg, so that the supporting leg rotates along the preset circular track and pushes the machine body.

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

Optionally, the transmission component further comprises a synchronous belt and an auxiliary wheel connected to the supporting leg, and the synchronous wheel and the auxiliary wheel are connected to the synchronous belt and achieve synchronous rotation through the synchronous belt.

Optionally, the synchronizing wheel with the auxiliary wheel all include the main part wheel and with transmission portion and 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, transmission portion connect in drive component connect and with the main part wheel sets up with the axle center, transmission 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 a tooth part, and the synchronous belt is in meshing transmission with the transmission part.

Optionally, the driving component includes 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 to the transmission component.

Optionally, the supporting leg includes a supporting portion and a connecting portion, the supporting portion is used for contacting with a working surface, one end of the connecting portion is connected with the driving assembly, and the other end of the connecting portion is connected with the supporting portion.

The embodiment of the application provides a running gear has following beneficial effect at least: compared with the prior art, the running gear that this application embodiment provided rotates along predetermineeing circular orbit through drive assembly drive supporting legs, and at supporting legs pivoted in-process, the relative height of supporting legs and working face can change, borrows the cooperation of supporting legs and drive assembly at this in-process, can promote the organism, makes the organism remove. So, just can utilize the continuous circulation of organism and running gear's the fluctuation, realize cleaning robot's removal, effectively solve the problem that foreign matter card such as cable goes into in the running gear, can provide reliable drive power for cleaning robot, be favorable to cleaning robot's use.

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

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

Optionally, the cleaning machines is mite removing robot, the organism includes frame, dustbin, removes mite subassembly and clean subassembly, the dustbin connect in the frame, remove mite subassembly with clean subassembly set up in inside the frame.

The embodiment of the application provides a public cleaning robot has at least the following beneficial effects: compared with the prior art, the cleaning robot provided by the embodiment of the application utilizes the traveling mechanism to provide driving force for the cleaning robot, can stably move even if flexible obstacles such as cables are encountered or flexible working surfaces such as carpets and beds are encountered in the moving process of the cleaning robot, and effectively solves the problem that the cleaning robot in the prior art is poor in moving reliability.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of a traveling mechanism provided in an embodiment of the present application;

fig. 2 is an exploded view of a traveling 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 first schematic perspective view of a cleaning robot provided in an embodiment of the present disclosure;

fig. 5 is a schematic perspective view of a cleaning robot according to an embodiment of the present disclosure;

FIG. 6 is a schematic side view of a cleaning robot according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a second side view of the cleaning robot provided in the embodiments of the present application;

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

FIG. 9 is a schematic diagram of a fourth side view of the cleaning robot provided in the embodiments 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 three-dimensional structure diagram of a cleaning robot provided in the embodiment of the present application;

fig. 12 is an exploded schematic view of a cleaning robot according to an embodiment of the present disclosure.

Wherein, in the figures, the respective reference numerals:

100. a traveling 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, a slot position; 12. a drive member; 121. a drive motor; 122. a speed reducer; 13. supporting legs; 131. a connecting portion; 132. a support portion; 133. a fastener;

200. a body; 21. a dustbin; 22. a machine base; 220. an air outlet; 221. an upper shell; 222. a side casing; 223. a lower case; 23. a drop sensor; 24. a mite killing component; 241. an ultraviolet lamp; 242. a distance sensor; 25. a cleaning assembly; 251. a blower motor; 252. a heating member; 253. a high efficiency net; 254. rolling and brushing; 26. a circuit board; 27. a battery.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, 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 merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" 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 will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The various features and embodiments described in the embodiments may be combined in any suitable manner, for example, different embodiments may be formed by combining different features/embodiments, and in order to avoid unnecessary repetition, various possible combinations of features/embodiments will not be further described in this application.

Some embodiments of the present application provide a traveling mechanism 100, please refer to fig. 1 and 4, the traveling mechanism 100 can be applied to various cleaning robots, and the traveling mechanism 100 is connected to a machine body 200 and drives the machine body 200 to move through the traveling mechanism 100, so as to realize the displacement of the cleaning robot. Referring to fig. 1, 2 and 5, the traveling mechanism 100 of the embodiment includes a supporting leg 13 and a driving assembly 10, the driving assembly 10 can be connected to a body 200 of the cleaning robot, the supporting leg 13 can be connected to the driving assembly 10, when the cleaning robot moves, the driving assembly 10 can drive the supporting leg 13 connected to the supporting leg to rotate the supporting leg 13 along a predetermined circular track, and during the rotation of the supporting leg 13, a relative height of the supporting leg 13 (refer to fig. 6 to 8, where the relative height refers to a connection position of the supporting leg 13 and the driving assembly 10 relative to a working surface) changes and can push the body 200 to move the cleaning robot. Specifically, referring to fig. 6, when the driving assembly 10 drives the supporting legs 13 to lift to a high position with a predetermined circular track, the body 200 of the cleaning robot may contact with the working surface, and at this time, the supporting legs 13 do not contact with the working surface, and the body 200 serves as a supporting point; referring to fig. 7 and 8, the driving assembly 10 may drive the supporting legs 13 to rotate and descend to a lower position of the preset circular track, and in this process, the supporting legs 13 may contact with the working surface to support and suspend the machine body 200 and push it forward; referring to fig. 9, the driving assembly 10 continues to drive the supporting legs 13 to rotate to a high position for resetting, and in the resetting process, the supporting legs 13 can continue to push the machine body 200 forward until the supporting legs 13 are no longer in contact with the working surface, and finally reset to the high position with the preset circular track, so that the reciprocating cycle is performed, and the movement of the cleaning robot is realized. Due to the design, the cleaning robot can move by utilizing 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 the cleaning robot can stably move even on a flexible working surface such as a carpet and a bed, so that reliable driving is provided for the cleaning robot. In a specific application, the driving assembly 10 can drive the rotation directions of the supporting legs 13 to realize the movement of the cleaning robot in different directions, and the movement speed of the cleaning robot can be controlled by changing the rotation speed of the supporting legs 13.

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

As an alternative embodiment of this embodiment, please refer to fig. 1 to fig. 3, the transmission component 11 may include a synchronizing wheel 111, and the synchronizing wheel 111 may be connected to the driving component 12 and the supporting foot 13. Specifically, the synchronizing wheel 111 may be connected to an output shaft of the driving member 12, and the supporting leg 13 may be connected to a non-axial position of the synchronizing wheel 111, that is, a connection position of the supporting leg 13 and the synchronizing wheel 111 does not fall on an axis of the output shaft of the driving member 12, so that the driving member 12 may be used to drive the synchronizing wheel 111 to rotate, and the supporting leg 13 may be rotated by the synchronizing wheel 111 to form a predetermined circular track.

In a specific application, the rotation range and the lifting/lowering amplitude of the supporting foot 13 can be adjusted by changing the connection position of the supporting foot 13 to the synchronizing wheel 111 or changing the size of the synchronizing wheel 111, generally, the closer the connection position of the supporting foot 13 and the synchronizing wheel 111 is to the axial position of the synchronizing wheel 111, the smaller the rotation range and the lifting/lowering amplitude of the supporting foot 13 is, and the rotation range and the lifting/lowering amplitude of the supporting foot 13 are positively correlated to the distance traveled by the traveling mechanism 100 each time. In this way, the moving speed of the cleaning robot can be adjusted by appropriately setting the connection position or size of the synchronizing wheel 111 and the supporting legs 13.

As an alternative embodiment of this embodiment, please refer to fig. 1 and 2, the transmission part 11 further includes a timing belt 113 and an auxiliary wheel 112, and the timing belt 113 and the auxiliary wheel 112 may both be connected to the timing belt 111, and both may rotate synchronously through the timing belt 113. Specifically, the auxiliary wheel 112 may also be connected to the supporting foot 13, and when the driving member 12 drives the synchronous wheel 111 to rotate, the synchronous wheel 111 may drive the auxiliary wheel 112 to rotate synchronously through the synchronous belt 113, and the synchronous wheel 111 and the auxiliary wheel 112 are used to further drive the supporting foot 13 to rotate and lift. Due to the design, the stability of the supporting legs 13 in the rotating and lifting process can be improved through the synchronous wheels 111 and the auxiliary wheels 112, so that the walking mechanism 100 and the cleaning robot are more reliable.

As an alternative embodiment of the present embodiment, referring to fig. 2 and 3, the structures of the synchronous wheel 111 and the auxiliary wheel 112 may be substantially the same, and specifically, the synchronous wheel 111 and the auxiliary wheel 112 may each include a main wheel 111a, a transmission portion 111c, a protrusion 111b, a transmission portion 111c, and a protrusion 111b, which may be connected to the main wheel 111a, wherein the protrusion 111b may protrude from one side of the main wheel 111a and be connected to the supporting leg 13 through a fastener 133, such that the synchronous wheel 111 and the auxiliary wheel 112 form a cam structure, the transmission portion 111c may be connected to the driving member 12 and be coaxially disposed with the main 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 to the timing belt 113, so that the synchronizing wheel 111 and the auxiliary wheel 112 are connected in a transmission manner, and the supporting legs 13 are connected by the protrusions 111b protruding from one side of the main wheel 111a, so that the sizes of the synchronizing wheel 111 and the auxiliary wheel 112 are reduced, the problem of strength reduction caused by the overlarge sizes of the synchronizing wheel 111 and the auxiliary wheel 112 is avoided, and the miniaturization of the traveling mechanism 100 and the improvement of the reliability of the traveling mechanism 100 are facilitated.

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

Of course, in other embodiments, the synchronizing wheel 111 and the auxiliary wheel 112 may be selected to have other suitable structures 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 have a disk-shaped wheel-shaped structure, and the supporting legs 13 may be connected to the positions near the edges of the synchronizing wheel 111 and the auxiliary wheel 112, so that similar effects to those of the present embodiment may be achieved.

As an alternative embodiment of this embodiment, please refer to fig. 2, the inner ring of the timing belt 113 and the outer edge of the transmission part 111c may be respectively provided with a tooth part, through which the timing belt 113 may be engaged with the transmission part 111c for transmission, specifically, the timing wheel 111 and the auxiliary wheel 112 may be horizontally spaced apart, and the spacing between the two is larger than the radius of the virtual circle formed by the rotation of the protrusion 111b, so as to avoid the interference between the timing wheel 111 and the auxiliary wheel 112. With such a design, the transmission reliability of the timing belt 113, the timing wheel 111, and the auxiliary wheel 112 can be improved by the meshing transmission of the timing belt 113 and the transmission unit 111c, and slippage and misalignment between the timing belt 113, the timing wheel 111, and the auxiliary wheel 112 can be avoided.

As an alternative embodiment of this embodiment, referring to fig. 2, the driving member 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 member 11. With such a design, the driving force can be output by the driving motor 121, and the moment of the driving force of the driving motor 121 is increased by the 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 move more stably.

As an alternative embodiment of this embodiment, referring to fig. 1 and fig. 2, the supporting leg 13 includes a supporting portion 132 and a connecting portion 131, the supporting portion 132 can be used to contact with a working surface, one end of the connecting portion 131 can be connected to the driving assembly 10, and the other end of the connecting portion 131 can be connected to the supporting portion 132. Specifically, two connecting portions 131 may be provided, one of the connecting portions 131 may be connected to the protruding portion 111b of the synchronizing wheel 111, the other connecting portion 131 may be connected to the protruding portion 111b of the auxiliary wheel 112, and the two connecting portions 131 may be spaced apart from each other to reduce the occupied space of the supporting 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 the cleaning robot, for example, referring to fig. 2 and 4, when the cleaning robot is a mite removing robot used on a bed, the supporting portion 132 may be a rectangular plate-shaped structure, the connecting portion 131 may be a rod-shaped structure, the connecting portion 131 may be connected to an upper end surface of the supporting portion 132, and a lower end surface of the supporting portion 132 may be used for contacting with a working surface and may be provided with anti-slip lines (not shown in the figure). Thus, the mite removing robot can maintain sufficient stability even if moving on a relatively soft bed, prevent bedding articles from being clamped into the traveling mechanism 100 of the mite removing robot, and improve the reliability of the mite removing robot. And the front end and the rear end of the supporting part 132 can be tilted upwards to reduce the interference of the bedding to 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 rib may be disposed at a connecting position between the connecting portion 131 and the supporting portion 132, so as to reduce the weight of the supporting leg 13 while ensuring the structural strength of the supporting leg 13.

The walking mechanism 100 provided by the embodiment of the application has the beneficial effects that the driving assembly 10 drives the supporting leg 13 to rotate along the preset circular track, in the rotating process of the supporting leg 13, the relative height between the supporting leg 13 and the working surface can be changed, and in the process, the supporting leg 13 and the driving assembly 10 are matched to push the machine body 200 to enable the machine body 200 to move. So, just can utilize the continuous circulation of the lift fluctuation of organism 200 and running gear 100, realize cleaning robot's removal, effectively solve the problem that foreign matter such as cable blocked in running gear 100, can provide reliable drive power for cleaning robot, be favorable to cleaning robot's use.

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

As an alternative embodiment of this embodiment, please refer to fig. 4 and 5, two traveling mechanisms 100 may be provided, and the two traveling 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 traveling mechanisms 100 may rotate synchronously or asynchronously, when the driving assemblies 10 of the two traveling mechanisms 100 drive the supporting feet 13 to rotate synchronously, the cleaning robot may move forward or backward, and when the cleaning robot needs to turn, the driving assemblies 10 of the two traveling mechanisms 100 may drive the supporting feet 13 to rotate asynchronously, so as to turn the cleaning robot. In this way, the cleaning robot can be moved and steered by the cooperation of the two traveling mechanisms 100.

As an optional embodiment of the present embodiment, taking the cleaning robot as an example of the mite removing robot for further explanation, referring to fig. 10 to fig. 12, the machine body 200 may include a base 22, a garbage can 21, a mite removing component 24 and a cleaning component 25, wherein the garbage can 21 may be installed above the base 22, the mite removing component 24 and the cleaning component 25 may be installed in the base 22, and the garbage can 21 may be provided with a drop sensor 23, and the drop sensor 23 may detect the front or the periphery of the mite removing robot in real time, so as to prevent the mite removing robot from falling from a high place.

The base 22 comprises an upper shell 223, a lower shell 221 and a side shell 222, the upper shell 223 and the lower shell 221 can be connected in an up-down involutory mode to form a cavity for containing the mite removing assembly 24 and the cleaning assembly 25, the travelling mechanism 100 can be installed at the positions of two sides of the base 22, part of the structure of the travelling mechanism 100 is covered by the side shell 222, the travelling mechanism 100 is prevented from being affected by dust and other sundries, and meanwhile the appearance attractiveness of the mite removing robot can be improved.

The mite removing assembly 24 may include an ultraviolet lamp 241 and a distance sensor 242, the ultraviolet lamp 241 and the distance sensor 242 may be installed below the base 22, and in the moving process of the mite removing robot, the ultraviolet lamp 241 may irradiate a path through which the mite removing robot passes, so as to destroy mites, bacteria and the like on a working surface. And distance sensor 242 can be used for detecting whether the mite robot is placed on the working face, and when the mite robot was picked up, distance sensor 242 can be triggered and closed ultraviolet lamp 241, avoided ultraviolet lamp 241 to shine the human body and cause the injury, improved the security that removes the mite robot.

The cleaning assembly 25 may include a rolling brush 254, a blower motor 251, a heating element 252, a high efficiency net 253, and the like, the rolling brush 254 may be exposed below the base 22, the rolling brush 254 may be used to flap a cleaning working surface, the blower motor 251 may generate suction force to suck dirt on the working surface into the trash bin 21 above the base 22, an air flow generated by the blower motor 251 may be separated and filtered in the trash bin 21, and then filtered again through the high efficiency net 253, and the filtered air flow is heated by the heating element 252 and finally blown to the working surface through the air outlet 220 below the base 22. Therefore, the working surface can be cleaned by the rolling brush 254 and the air drum motor 251, and meanwhile, the working surface can be dried by airflow generated by the air drum motor 251, so that the functionality of the mite removing robot is enriched. In specific applications, the body 200 may further include electrical components such as a battery 27 and a circuit board 26, and the specific structure thereof may refer to the prior art, which is not described in detail in this embodiment.

Referring to fig. 5 and 6, the mite killing robot in fig. 6 is placed on a working surface, at this time, the supporting legs 13 are at a high position, and the bottom surface of the supporting legs 13 is higher than the bottom surface of the machine body 200, and the driving part 12 drives the transmission part 11 and drives the supporting legs 13 to rotate; referring to fig. 7, the driving assembly 10 drives the supporting legs 13 to rotate 90 degrees, at this time, the bottom surface of the supporting legs 13 is slightly lower than the bottom surface of the machine body 200, and the supporting legs 13 start to contact with the working surface; referring to fig. 8, the supporting leg 13 rotates 90 degrees (180 degrees with respect to fig. 6), and at this time, the body 200 is suspended by the supporting leg 13 and pushed by the supporting leg 13 to the horizontal direction by a distance of the synchronizing wheel 111 (i.e. the length from the connecting position of the supporting leg 13 and the protruding portion 111b to the axial center position of the main wheel 111a of the synchronizing wheel 111); then, the supporting legs 13 continue to rotate, so that the machine body 200 falls back and contacts with the working surface, referring to fig. 9, in the process, the machine body 200 continues to advance by the distance of one synchronizing wheel 111 under the action of the walking mechanism 100 until the supporting legs 13 do not contact with the working surface and return to the high position. So constantly relapse above-mentioned process, just can make and remove mite robot along rectilinear movement, the up-and-down fluctuation of removing mite robot at every turn all can remove the distance of two synchronizing wheels 111, and when turning to, utilize the rotational speed difference of both sides running gear 100 to realize turning to, for example can stop through the running gear 100 of one side, the running gear 100 of opposite side starts, or, the running gear 100 clockwise rotation of one side, the running gear 100 anticlockwise rotation of opposite side, so all can realize removing turning to of mite robot and operate.

The cleaning robot provided by the embodiment of the application has the beneficial effects that the traveling mechanism 100 is utilized to provide driving force for the cleaning robot, so that the cleaning robot can stably move even if flexible obstacles such as cables are encountered or flexible working surfaces such as carpets and beds are encountered in the moving process of the cleaning robot, and the problem that the cleaning robot in the prior art is poor in moving reliability is effectively solved.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (11)

1. A running gear for connecting the organism and driving the organism to move, comprising:

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

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

2. The walking mechanism according to claim 1, wherein the driving assembly comprises a driving part and a transmission part connected to the driving part, and the transmission part is connected to the supporting foot and is used for transmitting the power of the driving part to the supporting foot, so that the supporting foot rotates along the preset circular track and pushes the machine body.

3. The walking mechanism of claim 2, wherein the transmission member comprises a synchronizing wheel connected to the driving member, and the supporting foot is connected to a non-axial position of the synchronizing wheel, so that the supporting foot forms the predetermined circular track during rotation.

4. The walking mechanism of claim 3, wherein said transmission member further comprises a timing belt and an auxiliary wheel connected to said supporting foot, said timing wheel and said auxiliary wheel are both connected to said timing belt and synchronously rotated by said timing belt.

5. The traveling mechanism according to claim 4, wherein each of the synchronizing wheel and the auxiliary wheel includes a main wheel, and a transmission portion and a protrusion portion connected to the main wheel, the protrusion portion protrudes from one side of the main wheel and is connected to the support leg, the transmission portion is connected to the driving member and is coaxially disposed with the main wheel, and the transmission portion is connected to the synchronizing belt.

6. The running mechanism according to claim 5, wherein the inner ring of the timing belt and the outer edge of the transmission part are provided with teeth, and the timing belt is in mesh transmission with the transmission part.

7. A walking mechanism according to any one of claims 2 to 5, characterized in that said driving member comprises a driving motor and a speed reducer, said speed reducer being connected to an output shaft of said driving motor, an output shaft of said speed reducer being connected to said transmission member.

8. The running gear according to any one of claims 1 to 6, wherein the support foot comprises a support portion for contacting a work surface and a connecting portion, one end of the connecting portion being connected to the drive assembly and the other end of the connecting portion being connected to the support portion.

9. A cleaning robot comprising a body to which the drive assembly is connected and a traveling mechanism according to any one of claims 1 to 8.

10. The cleaning robot as claimed in claim 9, wherein said traveling mechanisms are provided in two and are respectively connected to opposite sides of said body, and said driving units of said two traveling mechanisms rotate synchronously or asynchronously to realize the movement and steering of said body.

11. The cleaning robot of claim 9, wherein the cleaning robot is a mite removing robot, the body includes a base, a dustbin, a mite removing assembly, and a cleaning assembly, the dustbin is connected to the base, and the mite removing assembly and the cleaning assembly are disposed inside the base.

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