CN111872948A

CN111872948A - Drive module of robot and robot chassis, cleaning robot that have it

Info

Publication number: CN111872948A
Application number: CN202010644146.5A
Authority: CN
Inventors: 徐锦鑫; 陶文成; 曹赛先; 潘柏辉; 汪德朋
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-07-07
Filing date: 2020-07-07
Publication date: 2020-11-03

Abstract

The invention discloses a drive module of a robot, a robot chassis with the drive module and a cleaning robot, wherein the drive module of the robot comprises: support and at least one drive assembly, drive assembly includes: motor, reduction gear and drive wheel. The motor is established on the support, and the reduction gear includes supporter, input shaft and output shaft, supporter linking bridge, and the output shaft is connected on the supporter with the input shaft differential, and the input shaft links to each other with the motor shaft of motor, and the output shaft constitutes the shell of reduction gear, and the drive wheel overcoat is on the output shaft, and the drive wheel is the rubber coating wheel, and the integrative rubber coating of drive wheel is connected on the output shaft. The whole volume of drive assembly has been reduced to drive module's installation arrangement mode for drive module's volume reduces, and then drive module can move on the road surface that the space is less, road conditions complex is many turns, has promoted drive module's motion stationarity, and the connected mode of the integrative rubber coating of drive wheel and output shaft has promoted drive module's motion security.

Description

Drive module of robot and robot chassis, cleaning robot that have it

Technical Field

The invention belongs to the field of robots, and particularly relates to a driving module of a robot, a robot chassis with the driving module and a cleaning robot.

Background

With the rapid advance of urbanization, more and more people live into the cell, and the labor cost is increased year by year. The cleaning cost of the property of the residential area is higher and higher, the property company generally uses a cleaning robot to replace manual cleaning, the environment of the residential area is more complex compared with the indoor environment, and different road conditions and special space shapes need cleaning. The existing cleaning robot is difficult to meet the requirements of property companies and is not suitable for cleaning in a small range such as property cleaning. How to make the robot walk and work in a small range like normal walking is not only a problem of the cleaning robot, but also exists in other types of robots.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a driving module of a robot, which has small volume and high working reliability and can drive the robot to work in a small-range place with more turns.

The invention also aims to provide a robot chassis with the driving module of the robot.

The invention also aims to provide a cleaning robot with the robot chassis.

The driving module of the robot according to the embodiment of the present invention includes: a support and at least one drive assembly, the drive assembly comprising: the motor is arranged on the bracket; the speed reducer comprises a support body, an input shaft and an output shaft, the support body is connected with the support, the output shaft and the input shaft are connected to the support body in a differential mode, the input shaft is connected with a motor shaft of the motor, and the output shaft forms a shell of the speed reducer; the driving wheel is sleeved on the output shaft in a sleeved mode and is a rubber coating wheel, and the driving wheel is integrally connected to the output shaft in a rubber coating mode.

According to the driving module of the robot, the whole volume of the driving assembly is reduced due to the installation and arrangement mode of the motor, the speed reducer and the driving wheel of the driving module, so that the volume of the driving module is reduced, the driving module can move on a road surface with small space, complex road conditions and multiple turns, and the movement stability of the driving module is improved. The integrative rubber coating of drive wheel has promoted drive module's motion security in the connected mode of output shaft to because the relation of arranging of motor, reduction gear and drive wheel is inseparabler, the motion transmission is steady more quick, has promoted drive module work efficiency.

Optionally, the motor is a self-braking motor.

Optionally, the drive wheel is integrally formed with a friction enhancing pattern.

In some embodiments, the number of the driving assemblies is two, the two driving assemblies are oppositely connected to the bracket, and the motors of the two driving assemblies are positioned on the sides of the two driving wheels facing each other.

In particular, the two driving wheels are coaxially arranged.

Furthermore, fixing plates extending downwards are arranged on two sides of the support, the supporting bodies of the two speed reducers are respectively connected to the fixing plates on the two sides, and positioning pins are arranged between the two supporting bodies and the corresponding fixing plates.

Further, the support body extends out of the output shaft at a side adjacent to the motor, and the input shaft extends out of the support body at a side adjacent to the motor.

Specifically, two the motors are connected respectively on the supporter that corresponds, be equipped with the shaft hole on the input shaft, the motor shaft of motor inserts the cooperation and is in the shaft hole, the shaft hole is non-round hole.

There is also provided, in accordance with an embodiment of the present invention, a robot chassis, including: a chassis frame; a drive module of the robot, the drive module being connected to the chassis frame, the drive module having two of the drive assemblies; the driven wheel is connected to the chassis frame.

According to the robot chassis provided by the embodiment of the invention, the driving module is arranged, so that the overall size of the robot chassis is favorably reduced, and the robot chassis can stably move on a road surface with small space, complex road conditions and multiple turns.

There is also provided, in accordance with an embodiment of the present invention, a cleaning robot including: the robot chassis according to the above; the cleaning device is arranged on the robot chassis.

According to the cleaning robot provided by the embodiment of the invention, the robot chassis is arranged, so that the overall size of the robot is favorably reduced, and the robot can stably move on a road surface with small space, complex road conditions and multiple turns.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a perspective external view of a driving module of a robot according to an embodiment of the present invention.

Fig. 2 is a front view of the drive module of the embodiment shown in fig. 1.

Fig. 3 is a top view of the drive module of the embodiment shown in fig. 1.

Fig. 4 is a perspective external view of a decelerator according to an embodiment of the present invention.

Fig. 5 is a schematic structural view of a reduction gear and a drive wheel according to an embodiment of the present invention.

Fig. 6 is a perspective external view of a robot chassis according to an embodiment of the present invention.

Reference numerals

A drive module 100,

A bracket 1, a fixing plate 11, a positioning pin 111,

Drive unit 2, motor 21, speed reducer 22, support body 221, input shaft 222, shaft hole 2221, output shaft 223, drive wheel 23,

A robot chassis 300,

A chassis frame 3,

A driven wheel 4,

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "inner", "bottom", and the like, indicate orientations or positional relationships based on those shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

A driving module 100 of a robot according to an embodiment of the present invention is described below with reference to fig. 1 to 6.

As shown in fig. 1 to 3, a drive module 100 of a robot according to an embodiment of the present invention includes: support 1 and at least one drive assembly 2, drive assembly 2 includes: a motor 21, a reducer 22 and drive wheels 23. The motor 21 is arranged on the support 1, the speed reducer 22 comprises a support body 221, an input shaft 222 and an output shaft 223, the support body 221 is connected with the support 1, the output shaft 223 and the input shaft 222 are connected to the support body 221 in a differential mode, the input shaft 222 is connected with a motor shaft of the motor 21, the output shaft 223 forms a shell of the speed reducer 22, the driving wheel 23 is sleeved on the output shaft 223, the driving wheel 23 is a rubber-coated wheel, and the driving wheel 23 is integrally connected to the output shaft 223 in a rubber-.

When the driving module 100 moves, the motor 21 on the bracket 1 is started, the motor 21 transmits power to the speed reducer 22, the speed reducer 22 transmits the power to the driving wheel 23 in a speed reducing and torque increasing mode, and the driving wheel 23 rotates, so that the driving module 100 moves. The special connection mode of the input shaft 222 and the output shaft 223 of the speed reducer 22 not only can transmit power at a differential speed, but also can reduce the volume of the speed reducer 22. And the output shaft 223 forms the shell of the speed reducer 22, the driving wheel 23 is sleeved on the output shaft 223, namely the driving wheel 23 is sleeved on the speed reducer 22, the size of the driving module 100 is reduced by the arrangement mode of the speed reducer 22, and the safety of the speed reducer 22 is improved by the integral rubber-coating connection mode of the driving wheel 23 and the output shaft 223. The driving wheel 23 serves as a shell to support and protect the speed reducer 22, and the rubber-coated connection mode has certain elasticity, so that the speed reducer 22 can be protected, and external impact shock can be reduced.

The installation and arrangement mode of the motor 21, the speed reducer 22 and the driving wheel 23 of the driving module 100 reduces the whole volume of the driving assembly 2, so that the volume of the driving module 100 is reduced, the driving module 100 can move on a road surface with small space, complex road conditions and multiple turns, and the movement stability of the driving module 100 is improved. The connection mode that the driving wheel 23 is integrally wrapped on the output shaft 223 improves the motion safety of the driving module 100, and because the arrangement relation of the motor 21, the speed reducer 22 and the driving wheel 23 is tighter, the motion transmission is more stable and faster, and the work efficiency of the driving module 100 is improved.

Alternatively, the motor 21 is a self-braking motor 21.

The motor 21 has a braking function, when the vehicle runs normally, the motor 21 stops running or stops moving in other modes when encountering an obstacle or a pedestrian, and the power of the motor 21 is stopped and input into the input shaft 222, so that the driving module 100 loses a power source and stops, the risk of accidents caused by collision of the pedestrian is reduced, and the working safety of the driving module 100 is improved. When the driving module 100 runs on a road surface with a slope, the moving speed of the driving module 100 can be reduced through the self-braking motor 21, the out-of-control condition of the driving module 100 is reduced, and the safety of the driving module 100 is improved.

In some embodiments, the motor 21 is a servo motor with a brake device, and when the driving module 100 is running normally, the brake device does not interfere with the motor 21 and does not affect the normal operation of the motor 21, and in case of braking, the brake device will be put down to prevent the rotation of the motor shaft or the input shaft 222 and block the power transmission, thereby blocking the power of the driving module 100 and stopping the driving wheel 23 to complete the braking effect.

In some embodiments, the driving wheel 23 is provided with a braking device, and when an obstacle or a pedestrian is encountered during normal driving, the braking device can be activated by the determination module to prevent the driving wheel 23 from rotating, and the braking effect can also be achieved.

Compared with the structure that a braking device is additionally arranged on the driving wheel 23, the motor 21 is provided with the band-type brake device, so that the whole volume of the driving module 100 can be reduced, and the driving module 100 can conveniently move in a small space.

Optionally, the drive wheel 23 is integrally formed with a friction enhancing pattern.

The friction increasing patterns can increase the friction between the driving wheel 23 and the ground grabbing force, and can improve the running stability of the driving module 100 on different road surfaces, for example, on a smooth marble ground, a road surface with small water-stain friction or a road surface with slope and the like, and the running stability of the driving module 100 is high. As described above, in the case of braking, the driving wheel 23 with the friction increasing pattern can be stopped quickly, so that the safety of the driving module 100 is improved, the overall appearance of the driving module 100 is improved by increasing the friction increasing pattern, the friction increasing pattern integrally formed with the driving wheel 23 has precise scales, the quality of the driving wheel 23 is more uniform than that of the wheel center, and the movement stability of the driving wheel 23 is improved.

The structure and the specific electric control principle of the motor 21 and the decelerator 22 according to the embodiment of the present invention are well known in the art and will not be described in detail herein. The core of the solution of the present application is how to integrate the reducer 22 with the driving wheel 23 in a rubber-covered design, and the internal structure of the reducer 22 is not expanded here because it is prior art.

In some embodiments, as shown in fig. 1, 4 and 5, the number of the driving assemblies 2 is two, the two driving assemblies 2 are oppositely connected to the bracket 1, and the motors 21 of the two driving assemblies 2 are located on the sides of the two driving wheels 23 facing each other. On the premise that the drive module 100 can be sufficiently supported, for example, a universal wheel is further provided on the robot chassis 300 in fig. 6 as a support, and the turning radius of the drive module 100 is substantially equal to half of the track width of the two drive wheels 23. Since the driving wheel 23 is sleeved on the speed reducer 22, the track distance of the two driving wheels 23 can be arranged very close, so that the turning radius of the driving module 100 can be reduced.

Alternatively, the driving wheels 23 may be plural and arranged in a symmetrical manner, which can also improve the motion power of the driving module 100 and improve the smoothness of the motion, but two driving assemblies 2 can sufficiently provide sufficient driving force from the aspects of reducing the volume and reducing the manufacturing cost, and therefore, preferably, two driving assemblies 2 are provided.

The two driving assemblies 2 are oppositely connected on the bracket 1, and the motors 21 of the two driving assemblies 2 are positioned on one sides of the two driving wheels 23 facing each other, namely positioned on the inner sides of the driving modules 100, so that the whole size can be reduced, and the vehicle can conveniently run in a small-range space. When the driving module 100 may encounter a road block, an impact, etc. during driving, the motor 21 of the driving assembly 2 is disposed at the opposite inner side of the driving module 100, so that the motor 21 can be protected, and the driving safety of the driving module 100 can be improved.

In some embodiments, the motor 21 of the driving assembly 2 can rotate reversely, that is, the driving wheel 23 of the driving assembly 2 can rotate reversely, so as to realize reverse driving of the driving module 100, solve the problem of inconvenient steering of the driving module 100 in a narrow space, reduce the turning radius of the driving module 100, and improve the motion stability of the driving module 100. And the deceleration running of the drive module 100 can be realized, and the functionality of the drive module 100 can be increased.

In some embodiments, the driving wheels 23 of the driving assembly 2 can rotate, i.e. the two driving wheels 23 can rotate freely, and the driving assembly 2 can perform steering, turning and other actions, so as to increase the functionality of the driving module 100.

In some embodiments, the two driving wheels 23 are coaxially arranged, so that when the control of turning, reversing and the like is performed, the two driving wheels 23 are coaxial and are more convenient to calculate, the accuracy of driving control can be improved, and particularly, the turning radius required by driving in a small-range space is smaller.

Specifically, as shown in fig. 1 and 2, the bracket 1 is provided with fixing plates 11 extending downward at both sides thereof, the supporting bodies 221 of the two speed reducers 22 are respectively connected to the fixing plates 11 at both sides thereof, and positioning pins 111 are provided between the two supporting bodies 221 and the corresponding fixing plates 11.

The fixing plates 11 play a role in protecting the shell and limit the installation position of the speed reducer 22, the two fixing plates 11 are symmetrically arranged at two ends of the driving module 100, and the positioning pins 111 enable the installation positions of the supporting body 221 and the fixing plates 11 to be determined, so that the heights of the speed reducers 22 on two sides are the same, the symmetry of the driving assembly 2 is improved, the coaxiality of the driving wheel 23 is improved, and the driving stability of the driving module 100 is improved.

Further, as shown in fig. 2 and 5, the support body 221 extends out of the output shaft 223 at a side adjacent to the motor 21, and the input shaft 222 extends out of the support body 221 at a side adjacent to the motor 21.

The input shaft 222 and the output shaft 223 are arranged on the support body 221, so that the volume of the speed reducer 22 is reduced, the volume of the driving module 100 is reduced, the driving module 100 can move on a road surface with small space and multiple and complicated road conditions, and the movement stability of the driving module 100 is improved.

Furthermore, the two motors 21 are respectively connected to the corresponding support bodies 221, the input shaft 222 is provided with a shaft hole 2221, a motor shaft of the motor 21 is inserted into the shaft hole 2221, and the shaft hole 2221 is a non-circular hole. The design of the shaft hole 222 enables the motor shaft and the input shaft 222 to be conveniently connected and synchronously rotate, the assembly is very simple, and the matching precision is high.

A robot chassis 300 according to an embodiment of the invention is described below with reference to fig. 1-6.

The robot chassis 300 according to the embodiment of the present invention, as shown in fig. 6, includes: the robot comprises a chassis frame 3, a driving module 100 and driven wheels 4, wherein the driving module 100 is the driving module 100 of the robot, the driving module 100 is connected to the chassis frame 3, the driving module 100 is provided with two driving assemblies 2, and the driven wheels 4 are connected to the chassis frame 3.

The two driving wheels 23 are used for driving, and the driven wheel 4 is used for supporting. Due to the arrangement of the driving module 100, the robot chassis 300 according to the embodiment of the present invention has a small overall size, can be used for a road surface with a small space and a complex road condition, and has flexible movement and stable operation.

In some embodiments, the driven wheel 4 is located in a vertical bisector direction of a line connecting the two driving wheels 23, that is, the driven wheel 4 and the two driving wheels 23 are in a triangular shape to support the robot chassis 300, so that the triangular support is more stable, and the motion stability of the robot chassis 300 is improved, and the driven wheel 4 is located in the vertical bisector direction of the line connecting the two driving wheels 23, so that the arrangement form of the chassis is more symmetrical, and the motion stability of the robot chassis 300 is improved.

In some embodiments, the driven wheel 4 is also an integrally formed rubber-coated wheel with friction increasing pattern, and the rubber-coated material is selected from polyurethane, so as to improve the shock absorption capability of the driving wheel 23 and the driven wheel 4, make the robot chassis 300 quiet and stable during movement, and improve the noise reduction capability of the robot chassis 300.

In some embodiments, the driven wheel 4 is located in front of the normal traveling direction of the robot chassis 300, i.e. the driven wheel 4 is located in front of the two driving wheels 23, this arrangement can improve the motion smoothness of the robot, and the driven wheel 4 has no additional power element, which can play an auxiliary supporting role.

Alternatively, the driven wheel 4 is a ball or the driven wheel 4 is a universal wheel. In this case, the traveling direction of the robot chassis 300 is determined by the rotation speeds of the two drive wheels 23. When the rotation speed and the rotation direction of the two driving wheels 23 are the same, the straight line motion is realized, and when the rotation speed or the rotation direction of the two driving wheels 23 is different, the turning is realized.

Of course, in the present embodiment, the driven wheel 4 may be provided in plural, and may be provided at various reasonable positions of the robot chassis 300, which is not limited to the above embodiment.

A cleaning robot according to an embodiment of the present invention includes: the robot chassis 300 is the robot chassis 300, and the cleaning device is provided on the robot chassis 300. The cleaning device may be constructed as the cleaning device disclosed in the prior art, and the cleaning device will not be described herein.

Due to the arrangement of the robot chassis 300, the cleaning robot provided by the embodiment of the invention has a small overall size, can be used for a road surface with small space and complex road conditions, and is flexible in movement and stable in work.

The structure and operation of the driving module 100 of the robot in one embodiment will be described with reference to fig. 1 to 6.

The driving module 100 includes: support 1 and two drive assembly 2, drive assembly 2 includes: a motor 21, a reducer 22 and drive wheels 23. The two drive assemblies 2 are connected to the frame 1 opposite one another, the motors 21 of the two drive assemblies 2 being located on the sides of the two drive wheels 23 facing one another. The motor 21 is a band-type motor and is arranged on the bracket 1, the speed reducer 22 comprises a support body 221, an input shaft 222 and an output shaft 223, the two sides of the bracket 1 are provided with fixing plates 11 extending downwards, the support bodies 221 of the two speed reducers 22 are respectively connected to the fixing plates 11 on the two sides, a positioning pin 111 is arranged between the two support bodies 221 and the corresponding fixing plates 11, and the output shaft 223 and the input shaft 222 are connected to the support bodies 221 in a differential mode. The motors 21 are respectively connected to the corresponding support bodies 221, the input shaft 222 is provided with a shaft hole 2221, the motor shafts of the motors 21 are inserted and matched in the shaft holes 2221, the shaft holes 2221 are oval holes, the support bodies 221 extend out of the output shaft 223 at one side adjacent to the motors 21, and the output shaft 223 forms a shell of the speed reducer 22. The driving wheel 23 is sleeved on the output shaft 223, the driving wheel 23 is a rubber coating wheel and is provided with an integrally formed friction increasing pattern, the driving wheel 23 is integrally connected to the output shaft 223 in a rubber coating mode, and the two driving wheels 23 are coaxially arranged.

Through the structure, the driving module 100 of the embodiment of the invention can work in a small space and on a complex road surface, and can realize the motions of normal driving, reverse driving, steering, turning driving, emergency braking and the like.

The structure and movement of the robot chassis 300 in one embodiment is described below with reference to fig. 6.

The robot chassis 300 includes: the robot chassis comprises a chassis frame 3, a driving module 100 and a driven wheel 4, wherein the driving module 100 is connected to the chassis frame 3, the driving module 100 is provided with two driving assemblies 2, the driven wheel 4 is connected to the chassis frame 3 and is arranged in the vertical bisector direction of the connecting line of the two driving wheels 23 and is arranged in front of the robot chassis 300 in the conventional traveling direction.

Through the structure, the robot provided by the embodiment of the invention can work on a small space and a complex road surface, and can realize the motions of normal running, reverse running, steering, turning running, emergency braking and the like.

The structure of the cleaning robot in one embodiment is described below.

The cleaning robot includes: the robot chassis 300 is the robot chassis 300, the cleaning device is arranged on the robot chassis 300, and the cleaning broom is arranged on the robot chassis 300 and can perform cleaning movement along with the movement of the cleaning robot.

Through the structure, the robot provided by the embodiment of the invention can perform cleaning work on a small space and a complex road surface, can realize the motions of normal driving, reverse driving, steering, turning driving, emergency braking and the like, and ensures the driving and working stability of the robot.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A drive module for a robot, comprising:

a support; and the combination of (a) and (b),

at least one drive assembly, the drive assembly comprising:

the motor is arranged on the bracket;

the speed reducer comprises a support body, an input shaft and an output shaft, the support body is connected with the support, the output shaft and the input shaft are connected to the support body in a differential mode, the input shaft is connected with a motor shaft of the motor, and the output shaft forms a shell of the speed reducer;

the driving wheel is sleeved on the output shaft in a sleeved mode and is a rubber coating wheel, and the driving wheel is integrally connected to the output shaft in a rubber coating mode.

2. The drive module of a robot of claim 1, wherein the motor is a self-braking motor.

3. A drive module for a robot according to claim 1, wherein the drive wheel is integrally formed with a friction increasing pattern.

4. A drive module for a robot according to any of claims 1-3, characterized in that the number of drive assemblies is two, that two drive assemblies are connected to the frame in opposite directions, and that the motors of the two drive assemblies are located on the sides of the two drive wheels facing each other.

5. A drive module for a robot according to claim 4, characterized in that the two drive wheels are arranged coaxially.

6. The driving module of the robot as claimed in claim 5, wherein fixing plates extending downward are provided at both sides of the bracket, the supporting bodies of the two reducers are respectively connected to the fixing plates at both sides, and positioning pins are provided between the two supporting bodies and the corresponding fixing plates.

7. The drive module of the robot of claim 4, wherein the support body extends out of the output shaft at a side adjacent to the motor, and the input shaft extends out of the support body at a side adjacent to the motor.

8. The driving module of the robot according to claim 7, wherein two motors are respectively connected to the corresponding supporting bodies, the input shaft is provided with a shaft hole, a motor shaft of the motor is inserted and fitted in the shaft hole, and the shaft hole is a non-circular hole.

9. A robot chassis, comprising:

a chassis frame;

a drive module of the robot of any one of claims 1-8 connected to the chassis frame, the drive module having two of the drive assemblies;

the driven wheel is connected to the chassis frame.

10. A cleaning robot, characterized by comprising:

the robot chassis of claim 9;

the cleaning device is arranged on the robot chassis.