CN211324764U - Cleaning robot chassis and cleaning robot - Google Patents

Abstract

The application discloses cleaning machines people chassis and cleaning machines people. The cleaning robot chassis comprises a vehicle body, driving wheel modules arranged on two sides of the vehicle body, and a driven wheel arranged on the vehicle body and positioned in front of the driving wheel modules. The driving wheel module comprises a side wall part, a front driving wheel and a rear driving wheel, the rear driving wheel and the front driving wheel are arranged at two ends of the side wall part, the side wall part is hinged to the vehicle body, and the hinged axis is a pitching axis of the vehicle body. Wherein, in the walking process, preceding action wheel and back action wheel syntropy rotate and the axis of preceding action wheel and back action wheel is parallel and the wheel base is fixed. The cleaning robot chassis and the cleaning robot have good obstacle crossing capability.

Description

Cleaning robot chassis and cleaning robot

Technical Field

The application relates to the technical field of cleaning robots, in particular to a cleaning robot chassis and a cleaning robot.

Background

The existing sweeping robot is generally in a low disc-shaped structure and is in a triangular connection mode that a driven wheel is arranged in front of a vehicle body and two driving wheels are arranged at the left and right of the middle of the vehicle body. Because the floor sweeping part is arranged in the household environment, the chassis is designed to be very low and is almost tightly attached to the ground, so that the cleaning effect is ensured. The low chassis is easy to drill into the sofa and deeply clean under the bed.

However, the lower chassis structure reduces the obstacle crossing capability of the robot, and particularly, in the case of meeting higher steps, crossing is difficult to achieve, such as threshold stones of balconies, kitchens and toilets, sliding door sliding rails and the like.

SUMMERY OF THE UTILITY MODEL

The application provides a cleaning robot chassis and cleaning robot, cleaning robot chassis and cleaning robot have good obstacle-crossing ability.

In a first aspect, the present application provides a cleaning robot chassis, including the automobile body, locate the action wheel module of automobile body both sides, locate the automobile body and be located the driving wheel module the place ahead from the driving wheel module. The driving wheel module comprises a side wall part, a front driving wheel and a rear driving wheel, the rear driving wheel and the front driving wheel are arranged at two ends of the side wall part, the side wall part is hinged to the vehicle body, and the hinged axis is a pitching axis of the vehicle body. Wherein, in the walking process, preceding action wheel and back action wheel syntropy rotate and the axis of preceding action wheel and back action wheel is parallel and the wheel base is fixed.

In the scheme, the cleaning robot chassis with the cleaning robot chassis can ensure that a flat road is tightly attached to the ground and has good obstacle crossing capability, and the cleaning robot with the cleaning robot chassis can ensure the cleaning effect and also has good obstacle crossing capability so as to cross other obstacles such as higher steps. The driving wheel modules are two, each driving wheel module is arranged on the side of the vehicle body, the driving wheel module and the driven wheel support the vehicle body together, and the driving wheel modules provide forward power for the vehicle body. The driving wheel module comprises a side wall part, a front driving wheel and a rear driving wheel. Wherein, the side wall component is hinged with the vehicle body, and the front driving wheel and the rear driving wheel respectively rotate in the same direction. When the chassis of the cleaning robot travels on a flat road, the vehicle body can travel in a low state. When an obstacle is encountered, the side wall part can rotate relative to the vehicle body, the front driving wheel and the rear driving wheel can swing relatively, the driven wheel and the front driving wheel can easily climb over the obstacle under the thrust of the rear driving wheel, and then the vehicle body can climb over the obstacle under the tension of the front driving wheel to finish obstacle crossing. The chassis of the cleaning robot has a simple and reliable structure and low failure rate because the axes of the front driving wheel and the rear driving wheel are parallel and the wheel base is fixed.

In one possible implementation, the hinge axis of the side wall member and the vehicle body coincides with the rotation axis of the front drive wheel.

Among the above-mentioned scheme, the rotation axis coincidence of articulated axis and preceding action wheel can make current action wheel when crossing the barrier, and preceding action wheel can directly bear the whole gravity of automobile body, and for this reason, the weight of automobile body can not produce the torsion that causes the deflection to the back action wheel.

Optionally, in a possible implementation manner, the chassis of the cleaning robot further includes a limiting structure, the limiting structure is disposed on the vehicle body and is matched with the side wall member to limit a rotation range of the driving wheel module;

when the chassis of the cleaning robot walks on a flat road, the rear driving wheel contacts the ground under the action of the limiting structure, and the front driving wheel is suspended.

Among the above-mentioned scheme, provide one kind and can be when cleaning machines people chassis is in the level road, preceding action wheel is unsettled, two back action wheels and follow driving wheel three point support automobile body's technical scheme. When the cleaning robot chassis turns, the lateral abrasion of the tire is reduced and the power consumption is reduced due to the fact that only three points are used for supporting.

Optionally, in a possible implementation manner, the limiting structure is an elastic element, one end of the elastic element is disposed on the vehicle body, and the other end of the elastic element is disposed on the side wall member.

Optionally, in a possible implementation manner, the limiting structure is a limiting block, and the limiting block is disposed on the vehicle body and can be matched with the side wall member.

Alternatively, in one possible implementation, the axis of articulation of the side wall member with the vehicle body is located between the front drive wheel and the rear drive wheel.

In the above scheme, a state that the vehicle body can be supported at five points by the two rear driving wheels, the two front driving wheels and the driven wheel when the chassis of the cleaning robot is on a flat road is provided. In this state, the cleaning robot chassis can stably travel on a level road.

Optionally, in one possible implementation, the rear driving wheel and the front driving wheel are in a hub motor structure.

Optionally, in a possible implementation manner, the cleaning robot chassis further includes a driving member, and the driving member drives the rear driving wheel and the front driving wheel to rotate in the same direction.

Optionally, in a possible implementation manner, the driving member includes a power motor and a reduction gear set, the power motor is connected with an input end of the reduction gear set, and two output ends of the reduction gear set are respectively connected with the rear driving wheel and the front driving wheel.

Optionally, in a possible implementation, the cleaning robot chassis further includes a tail support, and the tail support is disposed at a rear end of the vehicle body.

In the above scheme, the tail supporting piece can provide supporting force for the tail when the chassis of the cleaning robot climbs, and friction resistance is reduced.

Optionally, in a possible implementation manner, the tail supporting piece is a driven roller, and the axle direction of the driven roller is parallel to the rear driving wheel axle;

wherein, when the vehicle runs on a flat road, the driven roller does not contact the ground.

Optionally, in one possible implementation, the driven wheel and/or the front lower end of the vehicle body is provided with a guide slope structure to ensure that the driven wheel can be smoothly pushed up to the obstacle through the guide slope structure.

Alternatively, in one possible implementation, the midpoint of the vehicle body coincides with the midpoint of the line connecting the two rear drive wheels.

In the scheme, the technical scheme that the chassis of the cleaning robot can turn around the center of the vehicle body on a flat road in a pivot mode is provided.

In a second aspect, the present application provides a cleaning robot including the cleaning robot chassis of any one of the first aspect.

The center of gravity of the cleaning robot is positioned between the midpoint of the connecting line of the two front driving wheels and the driven wheel of the robot chassis.

The cleaning robot has the characteristic of cleaning a chassis of the robot, and has good obstacle crossing capability to cross other obstacles such as higher steps while ensuring the cleaning effect. Meanwhile, the positions of the gravity center, the front driving wheel and the driven wheel of the cleaning robot are distributed, so that the cleaning robot can be stably supported, and the smoothness of obstacle crossing action is ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a perspective view of a chassis of a cleaning robot in a first perspective view according to the present embodiment;

fig. 2 is a perspective view of the cleaning robot chassis in the second perspective view in the present embodiment;

FIG. 3 is a schematic structural diagram of a driving wheel module in the present embodiment;

fig. 4 is a perspective exploded view of the driving wheel module in the first view angle in the present embodiment;

fig. 5 is a perspective exploded view of the driving wheel module in the second perspective view according to the present embodiment;

fig. 6 is a perspective exploded view of the chassis of the cleaning robot in this embodiment;

fig. 7 is a schematic structural view of a chassis of the cleaning robot in one state according to the embodiment;

fig. 8 is a schematic structural view of a chassis of the cleaning robot in another state according to the embodiment;

FIG. 9 is a schematic view of the cleaning robot chassis in this embodiment in a state of being on a level road;

10-15 are schematic views illustrating a process of the chassis of the cleaning robot climbing over an obstacle by a flat road in the embodiment;

fig. 16 is a perspective view of the cleaning robot in the present embodiment;

fig. 17 is a bottom view of the cleaning robot in this embodiment.

Icon: 10-cleaning a robot chassis; 10A-a barrier; 11-a vehicle body; 11 a-hinge slot; 12-a driving wheel module; 13-a driven wheel; 14-a side wall member; 14 a-a mounting member; 14 b-a hinge axis; 15-front driving wheel; 16-rear driving wheel; 17-a drive member; 18-a limit structure; 20-a cleaning robot; 170-a power motor; 171-reduction gear set.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The technical solution in the present application will be described below with reference to the accompanying drawings.

The present embodiment provides a cleaning robot chassis 10 having a good obstacle crossing capability of the cleaning robot chassis 10.

Referring to fig. 1 and 2, fig. 1 shows a three-dimensional structure of a cleaning robot chassis 10 in the present embodiment at a first viewing angle, and fig. 2 shows a three-dimensional structure of the cleaning robot chassis 10 in the present embodiment at a second viewing angle.

The chassis 10 of the cleaning robot includes a body 11, driving wheel modules 12 disposed at both sides of the body 11, and a driven wheel 13 disposed at the body 11 and in front of the driving wheel modules 12. The drive wheel module 12 includes a side wall member 14, a front drive wheel 15, and a rear drive wheel 16, the rear drive wheel 16 and the front drive wheel 15 being provided at both ends of the side wall member 14, the side wall member 14 being hinged to the vehicle body 11. In the walking process, the front driving wheel 15 and the rear driving wheel 16 rotate in the same direction, and the axes of the front driving wheel 15 and the rear driving wheel 16 are parallel and the axle distance is fixed.

The above embodiment provides a cleaning robot chassis 10 capable of ensuring that a flat road is closely attached to the ground and having a good obstacle crossing capability, and a cleaning robot having the cleaning robot chassis 10 is capable of ensuring a cleaning effect and also having a good obstacle crossing capability to cross other obstacles such as a high step. The number of the driving wheel modules 12 is two, each driving wheel module 12 is arranged on the vehicle body 11, the driving wheel module 12 and the driven wheel 13 jointly support the vehicle body 11, and the driving wheel module 12 provides forward power for the vehicle body 11. The drive wheel module 12 includes side wall members 14, a front drive wheel 15, and a rear drive wheel 16.

Wherein, the side wall member 14 is hinged to the vehicle body 11, and the front driving wheel 15 and the rear driving wheel 16 respectively rotate in the same direction. When the vehicle travels on a flat road, the vehicle body 11 travels in a low state supported by the driving wheel module 12 and the driven wheel 13. When an obstacle is encountered, the side wall member 14 can rotate relative to the vehicle body 11, the front driving wheel 15 and the rear driving wheel 16 can swing relatively, the driven wheel 13 and the front driving wheel 15 can easily climb over the obstacle under the pushing force of the rear driving wheel 16, and then the vehicle body 11 can climb over the obstacle under the pulling force of the front driving wheel 15 to complete obstacle crossing. Wherein, because the distance between the front driving wheel 15 and the rear driving wheel 16 is fixed, the chassis of the cleaning robot has simple and reliable structure and low failure rate.

It should be noted that the chassis 10 of the cleaning robot further includes a driving member 17, and the driving member 17 drives the rear driving wheel 16 and the front driving wheel 15 to rotate in the same direction. Referring to fig. 3, 4 and 5, fig. 3 shows a specific structure of the driving wheel module 12 in the present embodiment, fig. 4 shows a perspective exploded view of the driving wheel module 12 in the present embodiment at a first viewing angle, and fig. 5 shows a perspective exploded view of the driving wheel module 12 in the present embodiment at a second viewing angle.

The drive 17 includes a power motor 170 and a reduction gear set 171. Wherein, the side wall member 14 includes two mounting members 14a, the reduction gear set 171 is located between the two mounting members 14a, the power motor 170 is fixed on one of the mounting members 14a, and the front driving wheel 15 and the rear driving wheel 16 are mounted on the other mounting member 14 a.

The power motor 170 is connected to the input end of the reduction gear set 171, and two output ends of the reduction gear set 171 are respectively connected to the rear driving wheel 16 and the front driving wheel 15.

The reduction gear group 171 includes five gears which are sequentially engaged, the power motor 170 drives the gear located in the middle, and the gears located at both ends output power to the front driving wheel 15 and the rear driving wheel 16, respectively, and make the front driving wheel 15 and the rear driving wheel 16 rotate in the same direction. Meanwhile, the reduction gear set 171 may also play a role of speed reduction.

It should be noted that, in this embodiment, the power motor 170 is centered, which saves space and simplifies the structure. In other embodiments, the power motor 170 can also transmit the power to the front driving wheel 15 or the rear driving wheel 16, and then to the rear driving wheel 16 or the front driving wheel 15 through the synchronous structure. The synchronous structure can be a gear transmission or a belt transmission and the like.

It should be noted that in other embodiments, the number of the driving members 17 can be two, and the driving members can respectively drive the front driving wheels 15 and the rear driving wheels 16.

In other embodiments, the rear driving wheel 16 and the front driving wheel 15 are in a hub motor structure. The wheel is internally provided with the motor to form a hub motor structure, so that the whole structural space can be effectively saved.

Referring to fig. 3 again in conjunction with fig. 6, fig. 6 shows an exploded perspective view of the cleaning robot chassis 10 of the present embodiment, the side wall member 14 is provided with a hinge shaft 14b, the car body 11 is provided with a hinge groove 11a, the hinge shaft 14b is matched with the hinge groove 11a, so that the side wall member 14 can be rotatably connected with the car body 11, and the hinge axis is an axis of a pitch direction of the car body 11, so that when the cleaning robot chassis 10 encounters an obstacle, the side wall member 14 can rotate in the pitch direction, and the rear driving wheels 16 and the front driving wheels 15 respectively perform work, so that the cleaning robot chassis 10 can smoothly pass over the obstacle.

It should be noted that in other embodiments, the side wall member 14 and the vehicle body 11 may be hinged through other structures, for example, the side wall member 14 is provided with a hinge groove 11a, the vehicle body 11 is provided with a hinge shaft 14b, or a rotating shaft is installed between the side wall member 14 and the vehicle body 11, or a flexible elastic sheet, a rubber member, or the like is used instead of the rotating shaft.

Wherein, optionally, in a possible implementation, the hinge axis of the side wall member 14 with the vehicle body 11 coincides with the rotation axis of the front driving wheel 15.

Wherein, the rotation axis coincidence of hinge axis and preceding action wheel 15 can make current action wheel 15 when crossing the barrier, and preceding action wheel 15 can directly bear the whole gravity of automobile body 11, and for this reason, the weight of automobile body 11 can not produce the torsion that causes the deflection to back action wheel 16.

It should be noted that the hinge axis of the vehicle body 11 in this embodiment coincides with the rotation axis of the front driving wheel 15, and in other embodiments, the hinge axis may be close to the rotation axis of the front driving wheel 15, for example, in the vertical direction, the hinge axis is located above or below the rotation axis of the front driving wheel 15, and can also serve to bear the whole weight of the vehicle body 11 when the front driving wheel 15 passes through an obstacle.

Alternatively, in one possible implementation, the axis of articulation of the side wall member 14 with the vehicle body 11 is located between the front drive wheels 15 and the rear drive wheels 16.

The above embodiment provides a technical solution capable of supporting the vehicle body 11 at five points by the two rear driving wheels 16, the two front driving wheels 15 and the driven wheel 13 when the cleaning robot chassis 10 is on a level road. In a state where the vehicle body 11 is supported at five points, the cleaning robot chassis 10 can stably travel on a flat road.

Optionally, in one possible implementation, the cleaning robot chassis 10 further includes a limiting structure 18, and the limiting structure 18 is disposed on the vehicle body 11 and cooperates with the side wall member 14 to limit the rotation range of the driving wheel module 12.

When the cleaning robot chassis 10 travels on a flat road, the rear driving wheel 16 contacts the ground under the action of the limiting structure 18, and the front driving wheel 15 is suspended.

Referring to fig. 7 and 8, fig. 7 shows a detailed structure of the cleaning robot chassis 10 in one state, and fig. 8 shows a detailed structure of the cleaning robot chassis 10 in another state.

Wherein figure 7 shows the highest position of the rear drive wheel 16 being lifted when the drive wheel module 12 is engaged with the stop structure 18, and figure 8 shows the lowest position of the rear drive wheel 16 being lowered after rotation.

Wherein, when the chassis 10 of the cleaning robot is on a flat road, the front driving wheel 15 is suspended, as shown in fig. 9, and fig. 9 shows a state when the chassis 10 of the cleaning robot is on a flat road in this embodiment. The two rear driving wheels 16 and the driven wheels 13 support the vehicle body 11 at three points. When the cleaning robot chassis 10 is in a turn, since only three points are supported, the lateral wear of the tire can be reduced, and the power consumption is also reduced.

In this embodiment, the limiting structure 18 is an elastic element, one end of the elastic element is disposed on the vehicle body 11, and the other end of the elastic element is disposed on the side wall member 14.

Alternatively, in other embodiments, the limiting structure 18 may also be a limiting block, which is disposed on the vehicle body 11 and can be engaged with the sidewall member 14.

Hereinafter, an obstacle crossing manner of the cleaning robot chassis 10 according to the embodiment will be described with reference to the accompanying drawings.

In which fig. 10-15 show the cleaning robot chassis 10 from walking on a level road to crossing an obstacle.

The smooth step with the arc chamfer is used as the obstacle 10A (when the existing robot meets the step with the arc contour, the sliding problem that the pressure of a driving wheel is reduced on a slope in the climbing process is easy to occur, and the driving wheel is easy to block and cannot pass through under the condition, wherein the smooth step with the arc chamfer is the obstacle 10A which is difficult for the cleaning robot to cross, so that the obstacle crossing problem of the smooth step with the arc chamfer is solved, and all obstacle crossing problems in cleaning are basically solved).

Fig. 10 shows the cleaning robot chassis 10 traveling on a horizontal road surface and approaching a circular arc step (obstacle 10A).

In fig. 11, the chassis 10 of the cleaning robot is matched with a guide profile of the front end of the vehicle body 11 (a guide slope structure is arranged at the front end of the vehicle body 11 and/or in front of the driven wheel 13 to play a role of guiding when an obstacle is crossed so as to ensure that the driven wheel can be smoothly pushed up to an obstacle through the guide slope structure) by the pushing force of the driving wheel module 12, so that the driven wheel 13 is pushed to a step. At this time, the vehicle body 11 tilts backward, the front driving wheel 15 empties, and the vehicle continues to advance by the thrust of the rear driving wheel 16.

In fig. 12, the chassis 10 of the cleaning robot is advanced until the front driving wheel 15 contacts the circular arc surface of the step, and since the circular arc surface and the tangential line of the wheel have a large inclination angle and are smooth, sufficient friction climbing cannot be obtained only by the front driving wheel 15. But since the rear drive wheels 16 are now swung and contact the ground to continue pushing the vehicle body 11, there is still sufficient reliability of the force to push the front drive wheels 15 onto the steps.

Figure 13 the drive wheel has climbed over the step to the upper surface of the step. At a moment when the cleaning robot chassis 10 climbs, the driven wheel 13 may be lifted. But when the front driving wheel 15 reaches the upper surface of the step, the driven wheel 13 is pressed down to the ground and contacted due to the center of gravity of the vehicle body 11. At the moment, the whole machine is restored to be horizontal, and the gravity center of the whole vehicle completely passes through the steps.

Fig. 14, the chassis 10 of the cleaning robot mainly drives the vehicle body 11 to continue to advance by the power of the front driving wheel 15 until the rear driving wheel 16 contacts the step, and at this time, the rear driving wheel 16 also encounters the problem of insufficient pressure and easy slipping on the arc surface of the step, but depending on the pulling force of the front driving wheel 15, the rear driving wheel 16 can be easily pulled and climb up the step. In this process, since the center of gravity of the vehicle body 11 is not lifted any more, the upward movement of the rear driving wheel 16 is only used to overcome the self weight and the elastic force of the elastic element (when the limiting structure 18 exists in the chassis 10 of the cleaning robot, and is an elastic element), so that the forward resistance generated by these forces is very small, and the obstacle crossing can be effectively completed by the pulling force of the front driving wheel 15.

In fig. 15, the rear driving wheel 16 climbs up the step, and the cleaning robot chassis 10 can continue to work in the same state as in fig. 10.

Through the above description, it can be seen that the cleaning robot chassis 10 provided in this embodiment does not need any detection and control of a circuit when facing a step obstacle, and completely depends on the mechanical principle to automatically complete the obstacle crossing process, which is very simple and has wide applicability.

It should be noted that the sizes and specifications of the front driving wheel 15 and the rear driving wheel 16 can be completely consistent structures; the front driving wheel 15 can be large, and the rear driving wheel 16 can be small; or the rear driving wheel 16 is large and the front driving wheel 15 is small. As long as the rotation linear velocity is substantially uniform when contacting the ground during operation, no internal energy loss occurs between the front drive wheel 15 and the rear drive wheel 16.

It should be noted that, in one possible implementation, the midpoint of the vehicle body 11 coincides with the midpoint of the line connecting the two rear drive wheels 16. Since the center of the vehicle body 11 coincides with the connecting line of the rear driving wheel 16, in the embodiment where the rear driving wheel 16 is the main forward thrust source, the chassis 10 of the cleaning robot can perform the pivot steering motion around the center of the vehicle body 11 on the flat road.

It should be noted that, in other embodiments, the cleaning robot chassis 10 further includes a tail support, and the tail support is disposed at the rear end of the vehicle body 11. The tail support can provide a supporting force of the tail when the cleaning robot chassis 10 climbs an obstacle and reduce frictional resistance. Wherein in one possible implementation the tail support is a driven roller, the axle of the driven roller being parallel to the axle of the rear drive wheel 16. When the vehicle runs on a flat road, the driven roller does not contact the ground.

It should be noted that the present embodiment also provides a cleaning robot 20, which includes a cleaning robot chassis 10, as shown in fig. 16 and 17, where fig. 16 shows a perspective structure of the cleaning robot 20, and fig. 17 shows a bottom view of the cleaning robot 20.

The cleaning robot 20 further includes a control system, such as a battery, a control board, a sensor, etc., mounted inside the vehicle body 11, in accordance with or similar to the existing cleaning robot. The vehicle body 11 also carries working modules for performing tasks, such as a rolling brush for sweeping the floor, a dust collector, a rag tray for mopping the floor, and the like.

The cleaning robot 20 adopts a disc-shaped outer contour, and when walking on a flat road, the rear driving wheel 16 lands on the ground, and the front driving wheel 15 is suspended.

Referring to fig. 17, the center of the cleaning robot 20 is designated as point O, the rear driving wheels 16 are designated as A, C points, the front driving wheels 15 are designated as point B, D points, the driven wheels 13 are designated as point F, the center of gravity of the cleaning robot 20 is designated as point G, and the midpoint of the BD connection is designated as point E:

the midpoint of the connection between points a and C is exactly the point O of the circle center, which ensures that the cleaning robot 20 can turn in situ according to the circle center on a level road.

In one embodiment, only A, C and F (two rear drive wheels 16 and driven wheels 13) are relied upon to land at three points during flat road driving.

During obstacle crossing, the two points B and D (front driving wheels 15) touch the ground to bear the main weight of the vehicle body 11, and the two points A and C (rear driving wheels 16) play a role in assisting pushing.

The position of the center of gravity of the vehicle body 11 is designed before point E, i.e., before the BD line. It is possible to stably support the center of gravity G (cleaning robot 20) by means of the B, D and F three points (front driving wheel 15 and driven wheel 13). The smoothness of the obstacle crossing action is ensured.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (14)

1. A cleaning robot chassis, comprising:

a vehicle body;

the driving wheel modules are arranged on two sides of the trolley body and comprise side wall parts, front driving wheels and rear driving wheels, the rear driving wheels and the front driving wheels are arranged at two ends of the side wall parts, the side wall parts are hinged to the trolley body, and the hinged axis is a pitching axis of the trolley body; and

the driven wheel is arranged on the vehicle body and positioned in front of the driving wheel module;

in the walking process, the front driving wheel and the rear driving wheel rotate in the same direction, the axes of the front driving wheel and the rear driving wheel are parallel, and the axle distance is fixed.

2. The cleaning robot chassis of claim 1,

the hinge axis of the side wall part and the vehicle body is superposed with the rotation axis of the front driving wheel.

3. The cleaning robot chassis of claim 2,

the cleaning robot chassis further comprises a limiting structure, the limiting structure is arranged on the vehicle body and matched with the side wall part to limit the rotating range of the driving wheel module;

when the cleaning robot chassis walks on a flat road, the rear driving wheel is in contact with the ground under the action of the limiting structure, and the front driving wheel is suspended.

4. The cleaning robot chassis of claim 3,

the limiting structure is an elastic element, one end of the elastic element is arranged on the vehicle body, and the other end of the elastic element is arranged on the side wall part.

5. The cleaning robot chassis of claim 3,

the limiting structure is a limiting block, and the limiting block is arranged on the vehicle body and can be matched with the side wall part.

6. The cleaning robot chassis of claim 1,

the hinge axis of the side wall part and the vehicle body is positioned between the front driving wheel and the rear driving wheel.

7. The cleaning robot chassis of claim 1,

the rear driving wheel and the front driving wheel are of hub motor structures.

8. The cleaning robot chassis of claim 1,

the cleaning robot chassis further comprises a driving piece, and the driving piece drives the rear driving wheel and the front driving wheel to rotate in the same direction.

9. The cleaning robot chassis of claim 8,

the driving piece comprises a power motor and a reduction gear set, the power motor is connected with the input end of the reduction gear set, and two output ends of the reduction gear set are respectively connected with the rear driving wheel and the front driving wheel.

10. The cleaning robot chassis of claim 1,

the cleaning robot chassis further comprises a tail support piece, and the tail support piece is arranged at the rear end of the vehicle body.

11. The cleaning robot chassis of claim 10,

the tail supporting piece is a driven roller, the wheel axle of the driven roller is parallel to the wheel axle of the rear driving wheel, and the driven roller does not contact the ground when the vehicle runs on a flat road.

12. The cleaning robot chassis of claim 1,

the driven wheel and/or the lower end of the front part of the vehicle body are/is provided with a guide slope structure, so that the driven wheel can be smoothly pushed up to a barrier through the guide slope structure.

13. The cleaning robot chassis of claim 1,

the middle point of the vehicle body is superposed with the middle point of the connecting line of the two rear driving wheels.

14. A cleaning robot comprising the cleaning robot chassis of any one of claims 1 to 13;

the center of gravity of the cleaning robot is located between the midpoint of the connecting line of the two front driving wheels and the driven wheel of the robot chassis.

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