WO2023088397A1 - Transporter - Google Patents

Abstract

Disclosed in the present application is a transporter. The transporter comprises: a shell and a climbing structure, wherein the shell is provided with an accommodating chamber used for accommodating a robot vacuum cleaner and an entrance allowing the robot vacuum cleaner to enter same, and the entrance communicates with the accommodating chamber; and the climbing structure is arranged on the shell, and is configured such that the shell ascends or descends relative to the ground and the climbing structure horizontally moves relative to the shell. According to the technical solution of the present application, the robot vacuum cleaner can be helped to climb stairs.

Description

transport plane

related application

This application requires a Chinese patent application with application number 202122842674.4 filed on November 18, 2021, a Chinese patent application with application number 202122854091.3 filed on November 18, 2021, and a Chinese patent application with application number 202122854091.3 filed on January 13, 2022 , Chinese patent application with application number 202220103469.8, Chinese patent application with application number 202122843287.2 filed on November 18, 2022, Chinese patent application with application number 202111371153.3 filed on November 18, 2021, filed in 2021 The Chinese patent application with application number 202123134905.2 filed on December 13, 2021, the Chinese patent application with application number 202122854082.4 filed on November 18, 2021, and the Chinese patent application with application number 202210264032.7 filed on March 17, 2022 The Chinese patent application filed on September 6, 2022 with application number 202222364193.1, the Chinese patent application with application number 202222943763.2 filed on November 4, 2022, filed on November 4, 2022 The Chinese patent application with the application number 202222962175.3, the priority of the Chinese patent application with the application number 202220604238.5 filed on March 17, 2022, the entire contents of which are incorporated in this application by reference.

technical field

The present application relates to the technical field of cleaning equipment, in particular to a conveyor.

Background technique

The sweeping robot can realize the functions of automatic sweeping, vacuuming and mopping through its structure and program, and is widely used in different scenarios such as homes, public places, and factories. However, there may be stairs in the above scenarios. At present, the sweeping robot does not have the function of climbing stairs, and cannot clean across floors, which limits the application scenarios of the sweeping robot.

Contents of the invention

The main purpose of this application is to provide a transporter designed to assist a sweeping robot to climb stairs.

To achieve the above purpose, the transporter proposed by the present application includes: a housing and a climbing structure, the housing is provided with an accommodating chamber for accommodating the sweeping robot and an entrance for the sweeping robot to enter, the The inlet communicates with the accommodating chamber; and, the climbing structure is arranged on the housing, and is used for lifting the housing relative to the ground and moving horizontally relative to the housing.

In one embodiment, a dust suction area is provided at the bottom of the housing.

In one embodiment, the accommodating chamber is provided with a dust suction groove, and the dust suction groove is connected to the dust suction area through a dust suction connecting pipe, and the dust suction groove is connected to the cleaning robot. The suction port matches accordingly.

In an embodiment, the housing is further provided with a counterweight structure, and the counterweight structure is movably arranged at least along the first direction.

In one embodiment, the counterweight structure has an initial position and a balance position;

when the counterweight structure is in the initial position, the counterweight structure is located in whole or in part within the housing; and

When the counterweight structure is in the balance position, the counterweight structure protrudes completely or partially from the casing.

In one embodiment, the climbing structure includes a support structure, a lifting device and a first translation device;

The first translation device is connected to the lifting device to drive the support structure to reciprocate relative to the housing along the first horizontal direction;

the support structure is provided below the lifting device for supporting the conveyor; and

The lifting device is used to drive the support structure to lift relative to the housing.

In one embodiment, the supporting structure is provided with a moving driving device, and the moving driving device is used to drive the casing to move horizontally when the climbing structure is fixed relative to the casing.

In one embodiment, the moving driving device is a universal driving device, which is used to drive the housing to move horizontally in multiple directions.

In one embodiment, the universal driving device is a crawler device, and the universal driving device includes: a crawler frame, a track wheel, a driving motor, and a sleeve; two track wheels are respectively arranged on the bottom of the track frame On both sides, the two drive motors are arranged on one end of the track frame, and the two drive motors are respectively connected to the corresponding track wheels, and the sleeves are fixedly arranged on both sides of the track frame Between, the sleeve is movably connected with the supporting structure.

In one embodiment, one of the drive motors is connected to the track wheels on both sides, and the other drive motor is used to drive the universal drive device to rotate relative to the support structure.

In one embodiment, when the mobile driving device can only drive the casing to reciprocate in the first horizontal direction, a first rolling wheel set is installed on the casing, and the first rolling wheel set is used to drive The housing moves in a second horizontal direction different from the first horizontal direction.

In one embodiment, the mobile drive device is provided with two sets of rollers, and the two sets of rollers can respectively drive the housing to reciprocate in at least two different horizontal directions.

In one embodiment, the lifting device includes a second bracket and at least one guide rod arranged on the second bracket, the guide rod extends along the second direction, the guide rod is provided with movable parts, the The movable part is transmission-connected to the support structure, and the movable part moves along the extension direction of the guide rod, so as to drive the support structure to rise and fall relative to the housing.

In one embodiment, the conveyor further includes: a first cleaning device, the first cleaning device is arranged in the accommodating chamber, the cleaning tank is arranged on the bottom plate of the accommodating chamber, and is connected with The mop of the sweeping robot cooperates to clean the mop of the sweeping robot.

In one embodiment, the first cleaning device includes a cleaning tank, and the cleaning tank is arranged at a position of the accommodating chamber away from the entrance.

In one embodiment, the first cleaning device further includes a first mop and a first water spray structure, the first mop is connected to the first water spray structure and is arranged in the cleaning tank, The first mopping member and the first water spray structure can be rotated or fixed relative to the cleaning tank.

In one embodiment, the first cleaning device further includes a cleaning roller arranged in the cleaning tank, and a driving mechanism arranged on at least one side of the cleaning roller, and the driving mechanism drives the cleaning roller along the Horizontal reciprocating motion;

After the cleaning robot enters the accommodating chamber, the mop assembly of the cleaning robot abuts against the first mopping member or the cleaning roller.

In one embodiment, the counterweight structure is configured as a water tank, the water tank is provided with a water inlet and a water outlet, and the water outlet is at least in communication with the first cleaning device; at least part of the water tank can be movably extended to The outer side of the housing is such that the water inlet is exposed to the outside of the housing for water injection.

In one embodiment, a lift slot is provided at the bottom of the housing, and the support structure can be accommodated in the lift slot.

In an embodiment, the conveyor further includes a second cleaning device, which is used for cleaning the risers and/or treads of the stairs.

In one embodiment, the second mopping member is rotatably arranged on one or both sides of the housing, and the second mopping member can be rotated downward to clean the tread of the stairs;

In one embodiment, the second mopping member is arranged on any one side or both sides of the bottom surface on both sides of the housing, so as to clean the tread of the stairs;

In one embodiment, the second mopping member is liftably disposed on the lift groove, and the second mopping member can be moved to the bottom of the housing to clean the tread of the stairs.

In one embodiment, the first translation device is arranged on the lifting slot, and the first translation device includes a first screw extending along a first direction, a first bracket arranged on the first screw, and a first motor matched with the first screw;

The first bracket is transmission connected to the support structure, the first motor drives the first screw to rotate, and the rotation of the first screw drives the first bracket to reciprocate along the first direction to drive the The supporting structure reciprocates relative to the housing along the first direction.

In one embodiment, the lifting device is arranged on the first bracket; the lifting device includes a first fixing plate and a second fixing plate arranged in layers, and a connection between the first fixing plate and the second fixing plate. A plate lifting member, the first fixed plate is located on a side close to the housing, and the support structure is connected to the second fixed plate.

In one embodiment, the lifting member includes a first support rod, one end of the first support rod is movably arranged on the first fixing plate, and the other end is rotatably arranged on the second fixing plate.

In one embodiment, the lifting member further includes a second support rod, one end of the second support rod is rotatably arranged on the first fixing plate, and the other end is movably arranged on the second fixing plate.

In one embodiment, the first translation device includes: a slide, a translation motor, a slide rail, and a rack; the translation motor is fixed on the slide, two slide rails are arranged at intervals, and the slide A piece is slidably arranged between the two slide rails, the output end of the translation motor is connected to the rack in transmission, and the slide piece is sheathed outside the lifting device.

In one embodiment, the lifting device includes: a lifting motor, a threaded rod, a connecting column, and a connecting cross bar; the output end of the lifting motor is connected to the threaded rod, and the end of the threaded rod is far away from the lifting motor It is threadedly connected with the connecting column, the horizontal sliding part is sleeved on the outside of the connecting column, the connecting column is in the shape of a regular polygon, the bottom of the connecting column is fixedly connected with the connecting cross bar, and the two The lifting device is fixedly connected through the connecting cross bar.

In the technical solution of the present application, a climbing structure is provided in the casing to realize the climbing function of the casing relative to the stairs. In one embodiment, the casing is provided with an accommodating chamber for accommodating the sweeping robot. After the sweeping robot enters the accommodating chamber from the entrance, the casing realizes the climbing structure of the sweeping robot to climb stairs. Thus, the sweeping robot can clean across floors, expanding the application scenarios of the sweeping robot.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to the structures shown in these drawings without creative effort.

FIG. 1 is a structural schematic diagram of a first viewing angle of an embodiment of the transporter of the present application;

Fig. 2 is a structural schematic diagram of a second viewing angle of an embodiment of the transporter of the present application;

Fig. 3 is the front view of an embodiment of the transporter of the present application;

Fig. 4 is the bottom view of an embodiment of the conveyor of the present application;

Fig. 5 is a cross-sectional view at place A in Fig. 3;

Fig. 6 is the structural representation of the climbing structure of the transport aircraft of the present application;

Fig. 7 is the schematic structural view of the lifting device and the second translation device of the conveyor of the present application;

Fig. 8 is the top view of the lifting device of the transporter of the present application;

Fig. 9 is a cross-sectional view at B in Fig. 8;

Fig. 10 is a cross-sectional view at C in Fig. 8;

Fig. 11 is a schematic structural view of the first mopping member of the second cleaning device of the conveyor of the present application;

Fig. 12 is a structural schematic diagram of an embodiment of the internal structure of the accommodating chamber of the transporter of the present application;

Fig. 13 is a structural schematic diagram of another embodiment of the internal structure of the accommodation chamber of the transporter of the present application;

Fig. 14 is the structural representation of the counterweight structure of the transporter of the present application;

Fig. 15 is a schematic structural view of an embodiment of the water tank of the transporter of the present application;

Fig. 16 is a structural schematic diagram of another embodiment of the climbing structure of the transporter of the present application;

Fig. 17 is a schematic structural diagram of another embodiment of the present application;

Fig. 18 is a schematic structural view of another embodiment of the housing of the present application;

Fig. 19 is a structural schematic diagram of a counterweight structure according to another embodiment of the present application;

Fig. 20 is a structural schematic diagram of the first translation device and lifting device of the present application;

FIG. 21 is a structural schematic view of another embodiment of the present application from a bottom perspective;

Fig. 22 is a schematic cross-sectional view of another embodiment of the present application;

Fig. 23 is the use state diagram 1 of an embodiment of the present application;

Fig. 24 is the use state Fig. 2 of an embodiment of the present application;

Fig. 25 is the usage state diagram 3 of an embodiment of the present application.

FIG. 26 is a schematic structural view of an embodiment of the cleaning device of the present application.

Explanation of reference numbers:

label name label name 1 case 11 Storage chamber 12 Entrance 13 the ramp 131 limit part 132 Anti-skid pattern 14 door body 15 Vacuum outlet 16 lift chute 2 climbing structure twenty one lifting device 211 first fixed plate 212 second fixed plate 213 guide rod 214 movable parts 215 first scroll wheel set 216 lift motor 217 threaded rod 218 connecting column 219 connecting bar twenty two Lifting member 221 first support rod 222 Second support rod 225 Double threaded screw twenty three first translation device 231 first screw 232 first bracket 233 first motor twenty four supporting structure 241 track bracket 242 track wheel 243 motor 244 sleeve 251 slider 252 Translation motor 253 slide rail 254 rack 3 first cleaning device 31 Cleaning tank 32 cleaning roller 33 Drive mechanism 35 The first sprinkler structure

34 Second sprinkler structure 4 Second cleaning device 41 second mop 42 third mop 411 second motor 412 wiper shaft 5 Counterweight structure 51 water tank 511 sewage area 512 water purification area 52 water inlet 53 Outlet 54 third motor 171 Lay the board 172 Vacuum groove 173 Vacuum hose 174 Vacuum area 175 Vacuum slot 176 skateboard 177 cleaning tablet 178 spring 36 first wipe 6 transport base station the the

The realization, functional features and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relationship between the components in a certain posture (as shown in the drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication also changes accordingly.

In this application, unless otherwise clearly specified and limited, the terms "connection" and "fixation" should be understood broadly, for example, "fixation" can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be interpreted as indications or hints Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the meaning of "and/or" appearing in the whole text includes three parallel schemes, taking "A and/or B" as an example, including scheme A, scheme B, or schemes that both A and B satisfy. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present application.

Sweeping robot, also known as automatic cleaning machine, intelligent vacuum cleaner, robot vacuum cleaner, etc., is a kind of smart household appliances, which can automatically complete the floor cleaning work in the room by virtue of certain artificial intelligence. Generally, brushing and vacuuming are used to absorb the debris on the ground into its own garbage storage box, so as to complete the function of ground cleaning. Generally speaking, robots that complete cleaning, vacuuming, and mopping the floor are also collectively classified as sweeping robots.

The present application proposes a transport aircraft.

Referring to Figures 1 to 26, in an embodiment of the present application, the transporter includes: a housing 1 and a climbing structure 2, the housing 1 is provided with an accommodating chamber 11 for accommodating the sweeping robot and for supplying The entrance 12 that the sweeping robot enters, the entrance 12 communicates with the accommodating chamber 11; the climbing structure 2 is provided on the housing 1, and is used to lift the housing 1 relative to the ground and make it relatively The casing 1 moves horizontally.

In the technical solution of the present application, a climbing structure 2 is provided in the casing 1 to realize the climbing function of the casing 1 relative to the stairs. In one embodiment, the housing 1 is provided with an accommodating chamber 11 for accommodating the sweeping robot. After the sweeping robot enters the accommodating chamber 11 from the entrance 12, the housing 1 realizes sweeping through the climbing structure 2 Robot climbing stairs. Thus, the sweeping robot can clean across floors, expanding the application scenarios of the sweeping robot.

In one embodiment, the housing 1 is further provided with a counterweight structure 5 . By arranging the counterweight structure 5 to ensure the balance of the conveyor in the process of climbing the stairs, to prevent the conveyor from falling or rolling over due to the problem of the center of gravity.

In one embodiment, the counterweight structure 5 may be fixed at one end of the transporter, so the climbing effect can also be achieved as long as the center of gravity is biased to one side without the counterweight moving and climbing. In other embodiments, but not limited to, when the sweeping robot being transported is light in weight, the counterweight structure 5 is movable. Specifically, the counterweight structure 5 is movable along at least a first direction. It should be noted that the counterweight structure 5 can be moved inside the housing 1, or it can be movably extended outside the housing 1, but it should be noted that the height of the counterweight structure 5 must be To be higher than the height of one step, the length must be shorter than the width of two steps, so that the protruding counterweight structure 5 will not interfere with the steps. Specifically, the counterweight structure 5 has an initial position and a balance position; when the counterweight structure 5 is in the initial position, the counterweight structure 5 is wholly or partly located in the housing 1; and when the counterweight structure 5 is in the initial position, When the counterweight structure 5 is in the balance position, the counterweight structure 5 protrudes completely or partially from the casing 1 . It should be emphasized that the purpose of the counterweight of the counterweight structure 5 protruding from the housing 1 is to increase the balance ability by extending the moment arm under the premise of limited counterweight.

However, the present design is not limited thereto. In one embodiment, when no moving counterweight is provided, it is necessary to ensure that the center of gravity of the machine is on the side of the casing 1 . In the above-mentioned embodiment, it is achieved by adding a fixed counterweight, but this design is not limited thereto, and in other embodiments, it is also possible to adjust the center of gravity by installing heavier parts on one side of the housing 1, so as to realize climbing stairs stable effect. In the embodiment without moving counterweight, the cleaning tank 31 also needs the water inlet 52 of the cleaning tank 31 and the water outlet 53 of the cleaning tank 31 . The water inlet and the water outlet 53 cooperate with the water inlet 52 and the water outlet 53 of the base station after the transport plane enters the base station. The water injection port and the water outlet port 53 are used to supply and drain water to the cleaning tank 31 .

In one embodiment, the counterweight structure 5 is configured as a water tank 51 , the water tank 51 is provided with a water inlet 52 and a water outlet 53 , and the water outlet 53 communicates with at least the first cleaning device 3 . The water tank 51 is filled with water through the water inlet 52 , and the water tank 51 is drained through the outlet. The water tank 51 contains water, so that the water tank 51 has a certain weight, which is beneficial to the adjustment of the center of gravity. Specifically, in one embodiment, the water tank 51 includes a water purification area 512 and a sewage area 511, the water purification area 512 is used to store unused clean water, and the sewage area 511 is used to store cleaned sewage .

In one embodiment, at least part of the water tank 51 can be movably protruded to the outside of the housing 1, and the water inlet 52 is provided at the end of the water tank 51 facing the outside, so that when the water tank 51 When the water inlet 51 extends out of the housing 1 , the water inlet 52 is exposed outside the housing 1 , so that the water tank 51 can be filled with water from the water inlet 52 .

It should be noted that, in an embodiment where the water tank 51 is movable, the water tank 51 is driven by a third motor 54 and a pulley structure. However, the present design is not limited thereto, and in other embodiments, the pulley structure can also be replaced with a gear structure.

The climbing structure 2 includes a support structure 24, a lifting device 21 and a first translation device 23; the first translation device 23 is connected to the lifting device 21 to drive the support structure 24 along the housing 1 along the The first horizontal direction reciprocates; the supporting structure 24 is arranged under the lifting device 21 for supporting the conveyor; the lifting device 21 is used for driving the supporting structure 24 to lift relative to the housing 1 .

Stairs consist of risers, which are planes perpendicular to the horizontal plane, and treads, which are planes parallel to the horizontal plane. For the convenience of the following description, the first direction, the second direction and the third direction are introduced here, corresponding to the process of the transport aircraft climbing stairs, the first direction refers to the direction perpendicular to the kick surface, and the second direction refers to the The vertical direction perpendicular to the horizontal plane, the third direction is perpendicular to the first direction and also perpendicular to the second direction; corresponding to the conveyor shown in Figure 1, the first direction is the front and rear direction, and the second direction is the upward direction, and the third direction is the left-right direction.

The climbing structure 2 cooperates with the lifting device 21 and the first translation device 23 to realize the effect of climbing stairs, and the climbing structure 2 includes a supporting structure 24, the lifting device 21 and the first translation device 23; the first translation device 23 and the first translation device The lifting device 21 is connected, and the supporting structure 24 reciprocates horizontally relative to the housing 1 along a first direction; the lifting device 21 is used to drive the supporting structure 24 to lift relative to the housing 1 .

The steps of climbing are as follows: first, the lifting device 21 applies a force in the second direction to the housing 1 to at least lift the housing 1 to a height that is flush with the tread of the next step; then, the first step A translation device 23 drives the housing 1 to move toward the next step along the first direction until the bottom surface of the housing 11 abuts against the tread of the next step, and then the lifting device 21 moves along the second direction. to shrink the support structure 24 to the bottom of the casing 1, and finally, the first translation device 23 drives the support structure 24 to move along the first direction, so that the support structure 24 also moves to the next step On the surface, in this way, the step of the transporter climbing from one step to the next step is realized.

The lifting device 21 includes a second bracket and at least one guide rod 213 arranged on the second bracket, the guide rod 213 extends along the second direction, the guide rod 213 is provided with a movable part 214, the movable The moving part 214 is connected to the support structure 24 through transmission, and the movable part 214 moves along the extension direction of the guide rod 213 , so as to drive the supporting structure 24 to rise and fall relative to the housing 1 .

Specifically, in one embodiment, referring to FIG. 16 , the lifting device 21 includes a second bracket and a guide rod 213 arranged on the second bracket, the guide rod 213 extends along the second direction, and the guide rod 213 is provided with a movable part 214, and the movable part 214 is connected to the support structure 24 by transmission, and the movable part 214 moves along the extension direction of the guide rod 213, thereby driving the support structure 24 relative to the housing 1 lift. Specifically, in this embodiment, guide rods 213 are provided on opposite sides of the housing 1, the guide rods 213 extend along the height direction, and the movable part 214 is movably arranged on the guide rods 213 In this way, the movable part 214 can be lifted and lowered along the extension direction of the guide rod 213, and the movable part 214 is connected with a second translation device, and the second translation device realizes the The movement of the housing 1 in the horizontal direction. The climbing structure 2 also includes a second translation device arranged on the housing 1, and the second translation device is used to drive the housing 1 to move horizontally when the climbing structure 2 is fixed relative to the housing 1 The second translation device includes the support structure 24, the first scroll wheel set 215 and the second scroll wheel set, and the first scroll wheel set 215 and the second scroll wheel set are respectively used to drive the housing 1 Move horizontally in different directions; one of the first rolling wheel set 215 and the second rolling wheel set is set on the support structure 24 , and the other is set on the housing 1 . If it moves horizontally along the first direction, the housing 1 is assisted to climb; if it moves horizontally along the third direction, the conveyor is used to clean the kick surface and the tread.

Referring to Fig. 16, it needs to be further explained that the first translation device 23 includes a motor arranged on the support structure 24, a first translation screw installed horizontally at the bottom of the housing 1, and a screw sleeve cooperating with the first translation screw. , the screw sleeve is arranged on the slider, the motor of the support structure 24 and the screw sleeve are driven by a belt, and the rotation of the screw sleeve drives the slider to perform a translational movement relative to the first translation screw rod.

The transporter also includes: a first cleaning device 3 , which is provided in the accommodation chamber 11 and used for cleaning the cleaning robot.

In one embodiment, the first cleaning device 3 includes a cleaning tank 31, the cleaning tank 31 is arranged on the bottom plate of the accommodating chamber 11, and cooperates with the mop of the sweeping robot to clean the cleaning tank 31. Clean the mop of the sweeping robot mentioned above. The cleaning tank 31 is located at a position away from the entrance 12 of the accommodating chamber 11 . After the sweeping robot enters the accommodating chamber 11, the mop of the sweeping robot is arranged above the cleaning tank 31, and the cleaning tank 31 cleans the mop of the sweeping robot to ensure the cleanliness of the sweeping robot and improve The sweeping robot is effective in cleaning and mopping floors, thereby improving cleaning efficiency.

In one embodiment, the first cleaning device 3 further includes a first mopping member 36 and a first water spraying structure 35, the first mopping member 36 is connected to the first water spraying structure 35 and is located on The cleaning tank 31 , the first mopping member 36 and the first water spraying structure 35 can rotate or be fixed relative to the cleaning tank 31 . In another embodiment, the first cleaning device 3 further includes a cleaning roller 32 arranged in the cleaning tank 31, and a driving mechanism 33 arranged on at least one side of the cleaning roller 32, the driving mechanism 33 drives the cleaning roller 32 to reciprocate in the horizontal direction; when the sweeping robot enters the accommodating chamber 11, the mop assembly of the sweeping robot and the first mopping member 36 or the cleaning roller The barrel 32 abuts.

Specifically, the first cleaning device 3 further includes a cleaning roller 32 arranged in the cleaning tank 31, and a driving mechanism 33 arranged on at least one side of the cleaning roller 32, and the driving mechanism 33 drives the The cleaning roller 32 reciprocates in the horizontal direction. It should be noted that the power source of the driving mechanism 33 can be the motor installed on the conveyor, or the motor can be installed on the base station in cooperation with the conveyor, and drive the cleaning roller to reciprocate along the horizontal direction through the transmission parts extended from the base station . Specifically, in one embodiment, the cleaning roller 32 reciprocates along the first direction; in another embodiment, the cleaning roller 32 can also reciprocate along the third direction; in other In an embodiment, multiple cleaning rollers 32 are provided, at least one of which reciprocates along a first direction, and at least one reciprocates along a third direction. The cleaning roller 32 is arranged in the cleaning tank 31, that is, the cleaning roller 32 cleans the bottom of the sweeping robot by rolling. If water is stored in the cleaning tank 31, the cleaning tank 31 can clean the cleaning roller 32. Cleaning is performed to maintain the cleanliness of the cleaning roller 32 , thereby improving the cleaning effect of the cleaning roller 32 .

In one embodiment, the driving mechanism 33 includes a rack 254 arranged on one side of the cleaning tank 31, and a driving gear matched with the rack 254, and the driving gear is arranged on the side of the cleaning roller 32. One end to drive the cleaning roller 32 to roll. Specifically, the main function of the driving mechanism 33 is to drive the cleaning roller 32 to move so that the cleaning roller 32 can clean the cleaning robot in time. In one embodiment, one side of the cleaning tank 31 is provided with a rack 254, and the rack 254 is provided with a driving gear matched with each other, and the driving gear is coaxially connected with the cleaning roller 32, and the driving gear rotates Simultaneously moving, thereby driving the cleaning roller 32 to rotate while moving, and then cleaning the bottom of the cleaning robot. In another embodiment, both sides of the cleaning tank 31 are provided with racks 254, and the corresponding racks 254 on both sides are provided with driving gears, and the cleaning roller 32 is arranged between the two driving gears. In this way, the cleaning roller 32 has better stability during cleaning, and the two driving gears provide stronger power for the cleaning roller 32 .

In one embodiment, the first cleaning device 3 further includes a second water spray structure 34 arranged in the cleaning tank 31, the second water spray structure 34 is arranged in cooperation with the cleaning roller 32, the The driving mechanism 33 drives the second water spray structure 34 to move synchronously with the cleaning roller 32 . The second water spray structure 34 can directly spray the water in the cleaning tank 31 or the water tank 51 on the bottom of the cleaning robot, and then clean the bottom of the cleaning robot through the cleaning roller 32 . In this way, the second water spray structure 34 can effectively improve the cleaning efficiency of the cleaning roller 32 .

In one embodiment, the accommodating chamber 11 is further provided with a ramp 13, the ramp 13 gradually rises along the direction of the cleaning tank 31, and a limiting portion is provided on the top of the ramp 13 131 , when the moving wheel of the cleaning robot moves to the limiting portion 131 , the mopping part of the cleaning robot is in the cleaning tank 31 . It can be understood that if the ramp 13 is not provided, but the part to be cleaned of the sweeping robot is placed in the cleaning tank 31 by means of translation, the part to be cleaned will hang on the edge of the cleaning tank 31, and the Dust and dirt are brought out, but dust and dirt cannot be collected in the cleaning tank 31 inside. Therefore, the ramp 13 is provided so that the sweeping robot can be raised to a certain height, so as to avoid the part to be cleaned from being caught on the edge of the cleaning tank 31 . In this embodiment, the limiting part 131 is a groove, that is, when the part to be cleaned of the cleaning robot is located above the cleaning tank 31, the cleaning robot falls into the limiting part 131 The part to be cleaned is placed downwards in the cleaning tank 31 , thereby ensuring that the dust and dirt in the part to be cleaned of the sweeping robot will not fall in advance, thereby ensuring the cleanliness of the accommodating chamber 11 .

In one embodiment, the slope surface of the ramp 13 is provided with anti-skid lines 132 . When the sweeping robot is climbing the ramp 13, the anti-skid lines 132 can effectively prevent the sweeping robot from slipping.

In one embodiment, a bottom edge of the entrance 12 is provided with a door body 14 that can be turned downward. After the door body 14 is turned to form an inclined plane, the cleaning robot can enter the accommodating chamber 11 through the door body 14 . After the cleaning robot enters the accommodating chamber 11 , the door 14 is rotated and closed, so as to prevent the cleaning robot from falling out of the accommodating chamber 11 . It should be noted that the door body 14 can be, but not limited to, disposed on the bottom edge of the entrance 12 , and in other embodiments, the door body 14 can also be a lifting structure or a pulley structure, and the like.

The conveyor also includes a second cleaning device 4. In one embodiment, the second cleaning device 4 is used for cleaning the risers of stairs. In another embodiment, the second cleaning device 4 is used for cleaning the tread of stairs. In yet another embodiment, the second cleaning device 4 is used for cleaning the risers and treads of stairs.

The second cleaning device 4 includes a second mopping member 41 and a third mopping member 42, and the second cleaning device 4 is used for cleaning the risers and treads of stairs. Specifically, the second mopping member 41 is used for cleaning the tread of the stairs, and the third mopping member 42 is used for cleaning the riser of the stairs.

In one embodiment, the second mopping member 41 is rotatably disposed on one or both sides of the housing 1 , and the second mopping member 41 can be rotated downward to clean the tread of the stairs. In another embodiment, the second mopping member is arranged on either side or both sides of the bottom surface of the housing 1 to clean the tread of the stairs. In yet another embodiment, the second mop The wiper 41 is mounted on the lift groove 16 in a liftable manner, and the second wiper 41 is liftably moved to the bottom of the housing 1 to clean the tread of the stairs.

Specifically, the second mopping member 41 is rotatably arranged on both sides of the housing 1 , and the second mopping member 41 can be rotated downward to clean the tread of the stairs. In another embodiment, the second dragging member 41 is disposed on the bottom surface of the housing 1 . In yet another embodiment, the second dragging member 41 can be rotatably arranged on both sides of the casing 1 , and can also be arranged on the bottom surface of the casing 1 . However, the present design is not limited thereto. In yet another embodiment, the second mopping member 41 is mounted on the lift groove 16 so that it can be lifted. When needed, the second mopping member 41 is lowered to the ground. Flat position, and then clean the floor.

It should be noted that, in the embodiment in which the second mopping member 41 is rotatable, the second mopping member 41 drives the mopping member rotating shaft 412 to rotate through the second motor 411, and the second mopping member 41 is set on the mopping member rotating shaft 412, so the rotation of the mopping member rotating shaft 412 can drive the second mopping member 41 to rotate, so that the second mopping member 41 can be in contact with the tread surface, and then realize the tread surface cleaning effect.

In one embodiment, the second cleaning device 4 further includes a third mopping member 42 located on the side away from the entrance 12 of the housing 1, and the third mopping member 42 is used for cleaning the stairs. Riser clean.

In one embodiment, the side wall of the housing 1 is further provided with a dust suction port 15 for passing through a dust suction pipe and suctioning the dust collection box inside the cleaning robot. In this way, the dust collection bin inside the sweeping robot is cleaned through the dust suction port 15 .

In one embodiment, in one embodiment, the bottom of the housing 1 is provided with a lifting groove 16, and the support structure 24 can be accommodated in the lifting groove 16; the first translation device 23 is arranged on the lifting groove 16; slot 16, the first translation device 23 includes a first screw 231 extending along a first direction, a first bracket 232 disposed on the first screw 231, and a first motor 233 cooperating with the first screw 231 The first motor 233 drives the first screw 231 to rotate, and the rotation of the first screw 231 drives the first bracket 232 to reciprocate along the first direction. Wherein, the lifting slot 16 can completely accommodate the support structure 24 , so that the support structure 24 moves horizontally in the first direction driven by the first translation device 23 . Specifically, in this embodiment, the first translation device 23 realizes the horizontal movement of the casing 1 or the lifting device 21 through a screw structure. In other embodiments, the first translation device 23 can also implement the horizontal movement of the casing 1 or the support structure 24 through a rack 254 and a gear structure.

In one embodiment, in another embodiment, the lifting device 21 is arranged on the first bracket 232; the lifting device 21 includes a first fixing plate 211 and a second fixing plate 212 arranged in layers, and connecting The lifting member 22 of the first fixing plate 211 and the second fixing plate 212, the first fixing plate 211 is located on the side close to the housing 1, the support structure 24 is connected to the second fixing board 212. Using the lifting member 22 makes the relative position of the first fixing plate 211 and the second fixing plate 212 move away from or close to each other, so as to realize the lifting or lowering of the casing 1 .

In one embodiment, the lifting member 22 further includes a first support rod 221, one end of the first support rod 221 is movably arranged on the first fixed plate 211, and the other end is rotatably arranged on the second fixed plate 211. board 212. In another embodiment, the lifting member 22 further includes a second support rod 222, one end of the second support rod 222 is rotatably disposed on the first fixing plate 211, and the other end is movably disposed on the second Fixed plate 212 . In yet another embodiment, the first support rod 221 and the second support rod 222 are disposed between the first fixing plate 211 and the second fixing plate 212 .

However, it should be noted that the specific structure of the flexible connection between the first support rod 221 and the second support rod 222 is realized by the cooperation of the slide rail 253 and the slider, and one end of the slider is provided with a rotating part , the first support rod 221 and the second support rod 222 are rotatably arranged on the rotating part, so that the first support rod 221 and the second support rod 222 can rotate while also being able to Slide along the direction of the slide rail 253 , so that the lifting member 22 drives the second fixing plate 212 to move away from the first fixing plate 211 , so that the casing 1 can be lifted. In one embodiment, the first support rod 221 and the second support rod 222 move in opposite directions. In one embodiment, the first support rod 221 can be driven by a motor, while the second support rod 222 needs to be driven by another motor. In another embodiment, the first support rod 221 and the second support rod 222 are synchronously driven to achieve reverse motion through the structure of a motor and a double-flight screw 225 . It should be noted that, the double-flight screw 225 has two threads with opposite directions.

In one embodiment, in one embodiment, the climbing structure 2 further includes a second translation device arranged at the bottom of the second fixing plate 212, and the second translation device is used for moving the climbing structure 2 When fixed relative to the housing 11, it drives the housing 1 to move horizontally. In this embodiment, the horizontal moving direction of the second translation device includes but not limited to moving along the first direction and moving along the second direction.

In another embodiment, referring to FIG. 17 to FIG. 25 , the middle part of the housing 1 is provided with a placement plate 171 along the length direction of the housing, and the bottoms of both sides of the housing 1 are respectively provided with dust collectors. Area 174, one end of the placement board 171 is provided with a dust suction groove 172, and the two ends of the dust suction groove 172 communicate with the dust suction area 174 through the dust suction connecting pipe 173 respectively, and the housing 1 is provided with a counterweight structure 5, and the counterweight structure 5 is used to adjust the center of gravity of the shell 1 during the climbing process; the first translation device 23 is respectively slid on the two sides of the placement board 171, and the first translation device 23 is provided for the first translation. A translation device 23 is used to drive the casing 1 to move, and each first translation device 23 is provided with a lifting device 21 inside, and the lifting device 21 is used to drive the casing 1 to move up and down. In one embodiment, the supporting structure is provided with a moving driving device, and the moving driving device is used to drive the casing to move horizontally when the climbing structure is fixed relative to the casing. The moving driving device is a universal driving device, which is used to drive the housing to move horizontally in multiple directions. A universal driving device is connected to the bottoms of the two lifting devices 21, and the universal driving device is used to drive the casing 1 to move.

When the mobile driving device can only drive the casing to reciprocate in the first horizontal direction, a first rolling wheel set 215 is installed on the casing, and the first rolling wheel set 215 is used to drive the casing Move to a second horizontal direction different from the first horizontal direction. It should be noted that the horizontal direction here is not completely consistent with the direction in Figure 1. In this embodiment, the first horizontal direction and the first direction It may be consistent, the second horizontal direction will not be consistent with the second direction, and the horizontal plane of the second horizontal direction is on the horizontal plane formed by the first direction and the third direction. In other embodiments, the mobile driving device is provided with two sets of rollers, and the two sets of rollers can respectively drive the housing to reciprocate in at least two different horizontal directions.

In this embodiment, one end face of the housing 1 is open, and the placing board 171 extends obliquely away from the end provided with the dust suction groove 172 to the bottom of the end face of the opening of the housing 1, so that the placing board 171 The end of the plate 171 adjacent to the end face of the opening of the housing 1 is slope-shaped, which is convenient for the cleaning robot to climb up and place on the board 171. The board 171 is used to park the sweeping robot, and the dust suction groove 172 is used for cleaning the robot. It is convenient to use the vacuum function carried by the sweeping robot to carry out vacuuming operations on the stairs. The housing 1 is provided with a cleaning sheet 177 on one end surface adjacent to the dust suction groove 172. The bottom surface of the housing 1 is also provided with the cleaning sheet 177 on the dust suction area 174 , and the cleaning sheet 177 is provided to facilitate the cleaning of the housing 1 on the ground or the vertical wall through the cleaning sheet 177 .

In this embodiment, the dust suction area 174 is provided with a dust suction groove 175, and the dust suction groove 175 has two implementation modes, one is that the dust suction groove 175 is only set on the dust suction area 174, and The dust trough 175 is connected with the dust suction connecting pipe 173, so that the adsorption force of the dust suction equipment acts on the ground through the dust suction trough 175, and the dust impurities on the ground are absorbed into the dust suction equipment; "L" shape, that is, the dust suction groove 175 extends from the dust suction area 174 to the end surface of the shell adjacent to the dust suction groove 172, so that the shell 1 can not only perform dust suction on the ground but also on the wall. To improve the practicability of the housing 1, the two implementation modes can be set according to actual usage requirements.

In this embodiment, a slide plate 176 is provided on the dust suction area 174 corresponding to one end of the dust suction groove 175, and the slide plate 176 can slide into the dust suction groove 175. One end is connected with a spring 178, and the end of the slide plate 176 adjacent to the dust suction groove 175 protrudes from the bottom plane of the housing 1; specifically, in order to make the dust suction groove 175 adapt to most of the terrain width, prevent In special terrains, such as stairs, etc., because the dust suction groove 175 is too long, the part of the dust suction groove 175 is not opposite to the bottom surface, which leads to a decrease in the adsorption force due to the phenomenon of air leakage during dust suction. In the dust suction area 174 A slide plate 176 is arranged on the top corresponding to one end of the dust suction groove 175, and a spring 178 is provided at the end of the slide plate 176 away from the dust suction groove 175, and the slide plate 176 can slide from the dust suction area 174 to the dust suction area through the spring 178 On the groove 175, the length of the dust suction groove 175 is shortened so that it can fit with the stair steps of different sizes to be cleaned, so as to avoid the phenomenon of leakage, wherein the spring 178 can independently push the slide plate 176 into the dust suction groove 175 Inside, one end of the sliding plate 176 adjacent to the suction groove 175 protrudes from the bottom plane of the housing 1, so that when the sliding plate 176 is not resisted by the outside world, the spring 178 pushes the sliding plate 176 out until it abuts against the external wall surface. , when the length of the dust suction groove 175 is insufficient due to the slide plate 176, the end of the slide plate 176 protruding from the bottom plane of the housing 1 abuts against the external wall surface and is compressed, thereby extending the length of the dust suction groove 175.

In this embodiment, the counterweight structure 5 includes: a counterweight, a moving motor, a guide rod, and a belt; the belt is connected to the output end of the moving motor, and the middle of the bottom of the counterweight is connected to the The belt is fixedly connected, the guide rods are respectively arranged on both sides of the belt, the two ends of the bottom of the counterweight are slidingly connected with the guide rods, and the moving motor rotates to drive the belt to rotate, thereby driving the fixed connection with the belt The counterweight moves along the guide rod to adjust the position of the center of gravity.

In this embodiment, each of the first translation devices 23 includes: a slider 251, a translation motor 252, a slide rail 253, and a rack 254; the translation motor 252 is fixed on the slider 251, and the slider There are two rails 253, the two slide rails 253 are arranged at intervals, the slide member 251 is slidably arranged between the two slide rails 253, and the rack 254 is arranged above one of the slide rails 253, The output end of the translation motor 252 is in transmission connection with the rack 254, and the slider 251 is sleeved outside the lifting device 21. Through the transmission connection between the translation motor 252 and the rack 254, the translation motor 252 is in the working state. , drive the slide 251 to move along the slide rail 253, drive the lifting device 21 sleeved in the slide 251 and the universal driving device connected to the bottom of the lifting device 21 to move synchronously.

In this embodiment, the two slide rails 253 of each first translation device 23 are respectively provided with "T"-shaped slide grooves, and the two sides of the slide 251 are respectively provided with slides corresponding to the slides. The sliding block adapted to the groove enables the sliding block to be embedded in the sliding groove, so that the height of the sliding member 251 inside the two sliding rails 253 is fixed.

In this embodiment, there are two lifting devices 21, the two lifting devices 21 are symmetrically arranged, the bottoms are fixedly connected together, and driven synchronously; each lifting device 21 includes: a lifting motor 216, a threaded rod 217, a connecting column 218. Connect the cross bar 219; the output end of the lifting motor 216 is connected to the threaded rod 217, and the end of the threaded rod 217 away from the lifting motor 216 is screwed to the connecting column 218, and the first translation The slider 251 in the device 23 is sleeved on the outside of the connecting column 218, and the slider 251 is fixedly connected with the lifting motor, the bottom of the connecting column 218 is fixedly connected with the connecting cross bar 219, and the two lifting devices The two connecting cross bars 219 are fixedly connected, and the middle parts of the two connecting cross bars 219 are movably connected with the universal drive device. When the lifting motor 216 works, the threaded rod 217 is driven to rotate, so that it promotes the connection with the threaded connection. The column 218 rises or falls with the direction of its rotation, driving the universal driving device connected with the connecting cross bar 219 to rise or fall.

In this embodiment, one universal driving device is provided, and the universal driving device includes: track bracket 241, track wheel 242, drive motor 243, sleeve 244; two track wheels 242 are provided, two The crawler wheels 242 are respectively arranged on both sides of the crawler frame 241, and the driving motor 243 is provided with two, and the driving motor 243 is arranged on one end of the crawler frame 241, and the two driving motors 243 are respectively connected with the corresponding track wheels 242, the sleeve 244 is fixedly arranged between the two sides of the track bracket 241, the sleeve 244 is movably connected with the bottom of the lifting device 21, and the two drive The motor 243 can run synchronously in the same direction, so that it can drive the two track wheels 242 to rotate in the same direction synchronously, and then drive the housing 1 to move. Rotate in different directions, and be movably connected with the middle part of the connecting cross bar 219 through the sleeve 244, so that the track wheels 242 rotate horizontally when rotating in different directions synchronously, and adjust the forward direction.

Working principle, when the stair climbing device is in the initial state, the universal driving device is located in the middle of the housing 1, and the counterweight is located above the universal driving device. Now, because the track wheel 242 is in contact with the ground, the connecting column 218 cannot sink. Therefore, under the positive operation of the lifting motor 216, a reaction force is generated to move the lifting motor 216 upward, and the lifting motor 216 and the slider 251 are connected together through a fixed connection structure (not shown in the figure), so that when the lifting motor 216 moves up, the slider 251 is driven to rise synchronously under the fixed connection structure, and at the same time, the slider 251 and the slide rail 253 slide in the horizontal direction. Connected, the sliding piece 251 and the sliding rail 253 move synchronously in the vertical direction, so that when the sliding piece 251 rises, it drives the housing 1 to rise synchronously until it is flush with the plane of the second step, because the "T" shaped chute and the sliding rail The structure of 253 makes the casing 1 not tilt sideways when it rises, and then the drive motor 243 runs to drive the track wheel 242 to rotate, driving the casing 1 to move forward, so that the front end of the casing 1 rests on the bottom On the second step, and make the front end of the housing 1 abut against the wall of the third step, when the universal driving device is in operation, the translation motor 252 of the first translation device 23 will not run, and the slider 251 is between the translation motor 252 and the translation motor 252. There will be no movement under the meshing limit of the rack 254, so as to prevent the universal drive device from driving the first translation device 23 to move while the housing 1 does not move when the universal drive device drives the housing 1 to move; The weight moves forward and moves to the front end of the housing 1, so that the center of gravity is located at the front end of the housing 1. At this time, the jacking motor runs in reverse, and the universal drive device rises under the drive of the threaded rod 217, because the center of gravity is located at the front end of the housing 1. 1, so the universal drive device rises at this time, and the housing 1 will not fall until it is flush with the surface of the first step, and the translation motor 252 of the first translation device 23 runs to drive the slider 251 along the sliding The movement of the rail 253 drives the universal driving device to move to the first step. At this time, if it is necessary to move along the length direction of the step, the two track wheels 242 can be rotated laterally by controlling the two drive motors 243 to run synchronously in different directions. , so that the forward direction of the two crawler wheels 242 is consistent with the length direction of the steps, so as to realize the lateral movement of the stair climbing device. When it is about to rise again, the counterweight moves back to the top of the climbing feet, and then the above steps can be carried out .

In summary, the present application realizes the movement of the casing 1 by setting the universal drive device in the casing, realizes the rise of the casing and the universal drive device by setting the lifting device, and realizes the translation of the universal drive device by setting horizontal sliding parts , by setting the counterweight to prevent the stair climbing device from rolling and falling due to the shift of the center of gravity when climbing, the climbing function of the stair climbing device is realized through the combination of the four, the structure is simple, the design is reasonable, it can move in multiple directions, and the design cost is low , has great application promotion value.

In another embodiment, the first translation device includes: a slider 251, a translation motor 252, a slide rail 253, and a rack 254; the translation motor 252 is fixed on the slider 251, and the two sliders The rails 253 are arranged at intervals, the slider 251 is slidably arranged between the two slide rails, the output end of the translation motor 252 is connected to the rack 254 in transmission, and the slider 251 is sleeved on the lift Device 21 outside. The lifting device 21 includes: a lifting motor 216, a threaded rod 217, a connecting column 218, and a connecting cross bar 219; the output end of the lifting motor 216 is connected with the threaded rod 217, and the threaded rod 217 is far away from the lifting motor One end of 216 is threadedly connected with the connecting column 218, the horizontal sliding part is sleeved on the outside of the connecting column, the connecting column is in the shape of a regular polygon, and the bottom of the connecting column is fixedly connected with the connecting cross bar , the two lifting devices 21 are fixedly connected through the connecting cross bar.

The above are only optional embodiments of the present application, and are not intended to limit the patent scope of the present application. Under the inventive concept of the present application, the equivalent structural transformations made by using the description of the application and the contents of the accompanying drawings, or direct/indirect Applications in other relevant technical fields are included in the patent protection scope of the present application.

Claims (24)

A transporter for transporting a sweeping robot, wherein the transporter includes: a housing and a climbing structure, The housing is provided with an accommodating chamber for accommodating the sweeping robot and an entrance for the sweeping robot to enter, and the entrance communicates with the accommodating chamber; and, The climbing structure is arranged on the casing, and is used for lifting the casing relative to the ground and moving horizontally relative to the casing. The conveyor according to claim 1, wherein the bottom of the housing is provided with a suction area. The conveyor according to claim 2, wherein the accommodating chamber is provided with a dust suction groove, and the dust suction groove is connected to the dust suction area through a dust suction connecting pipe, and the dust suction groove is connected to the dust suction area. The dust suction port of the sweeping robot is correspondingly matched. The conveyor according to claim 1, wherein the casing is further provided with a counterweight structure, and the counterweight structure is movably arranged at least along a first direction. The conveyor of claim 4, wherein the counterweight structure has an initial position and an equilibrium position; when the counterweight structure is in the initial position, the counterweight structure is located in whole or in part within the housing; and When the counterweight structure is in the balance position, the counterweight structure protrudes completely or partially from the casing. The conveyor of claim 1, wherein the climbing structure includes a support structure, a lifting device and a first translating device; The first translation device is connected to the lifting device to drive the support structure to reciprocate relative to the housing along the first horizontal direction; the support structure is provided below the lifting device for supporting the conveyor; and The lifting device is used to drive the support structure to lift relative to the housing. The conveyor according to claim 6, wherein the supporting structure is provided with a moving driving device, and the moving driving device is used to drive the casing to move horizontally when the climbing structure is fixed relative to the casing. The transporter according to claim 7, wherein the moving driving device is a universal driving device for driving the casing to move horizontally in multiple directions. The conveyor according to claim 8, wherein the universal driving device is a crawler device, and the universal driving device comprises: a crawler bracket, a crawler wheel, a driving motor, and a sleeve; the two track wheels are respectively arranged on On both sides of the track frame, two drive motors are arranged on one end of the track frame, and the two drive motors are respectively connected to the corresponding track wheels, and the sleeve is fixedly arranged on the track wheel. between the two sides of the track frame, the sleeve is movably connected with the support structure; or, One of the drive motors is connected to the track wheels on both sides, and the other drive motor is used to drive the universal drive device to rotate relative to the support structure. The conveyor according to claim 7, wherein when the mobile drive device can only drive the housing to reciprocate in the first horizontal direction, a first rolling wheel set is installed on the housing, and the first rolling The wheel set is used to drive the housing to move in a second horizontal direction different from the first horizontal direction; or, The mobile driving device is provided with two roller sets, and the two roller sets can respectively drive the housing to reciprocate in at least two different horizontal directions. The conveyor according to claim 6, wherein the lifting device comprises a second bracket and at least one guide rod arranged on the second bracket, the guide rod extends along the second direction, and the guide rod is provided with The movable part is transmission-connected to the support structure, and the movable part moves along the extension direction of the guide rod, so as to drive the support structure to rise and fall relative to the housing. The transporter according to claim 1, wherein the transporter further comprises: a first cleaning device, the first cleaning device is disposed in the accommodating chamber, and is used for cleaning the cleaning robot. The conveyor according to claim 12, wherein the first cleaning device includes a cleaning tank, the cleaning tank is arranged on the bottom plate of the accommodating chamber, and cooperates with the mop of the sweeping robot for cleaning The mop of the sweeping robot is used for cleaning. The conveyor according to claim 13, wherein the first cleaning device further comprises a first mopping piece and a first water spraying structure, and the first mopping piece is connected with the first water spraying structure and is arranged on The cleaning tank, the first mopping member and the first water spray structure can be rotated or fixed relative to the cleaning tank; or, The first cleaning device also includes a cleaning roller arranged in the cleaning tank, and a driving mechanism arranged on at least one side of the cleaning roller, and the driving mechanism drives the cleaning roller to reciprocate in a horizontal direction; After the cleaning robot enters the accommodating chamber, the mop assembly of the cleaning robot abuts against the first mopping member or the cleaning roller. The conveyor according to any one of claims 4, 5 or 12, wherein the counterweight structure is configured as a water tank, the water tank is provided with a water inlet and a water outlet, and the water outlet is at least connected to the first cleaning device Communication; at least part of the water tank can be movably extended to the outside of the casing, so that the water inlet is exposed outside the casing for water injection. The transporter according to claim 6, wherein the bottom of the casing is provided with a lifting slot, and the support structure can be accommodated in the lifting slot. The conveyor according to claim 16, wherein the conveyor further comprises a second cleaning device, the second cleaning device is used for cleaning the risers and/or the treads of the stairs. The transporter according to claim 17, wherein said second mopping member is rotatably provided on one or both sides of said casing, said second mopping member can be turned downwards so that the tread of the stairs clean; Or, the second mopping member is arranged on any one side or both sides of the bottom surface on both sides of the housing, so as to clean the tread of the stairs; Or, the second mopping member is arranged in the lifting groove in a liftable manner, and the second mopping member can be moved to the bottom of the housing in a liftable manner, so as to clean the tread of the stairs. The conveyor according to claim 16, wherein the first translation device is arranged on the lifting groove, the first translation device includes a first screw extending along a first direction, a second screw provided on the first screw a bracket, and a first motor matched with the first screw; The first bracket is transmission connected to the support structure, the first motor drives the first screw to rotate, and the rotation of the first screw drives the first bracket to reciprocate along the first direction to drive the The supporting structure reciprocates relative to the housing along the first direction. The conveyor according to claim 19, wherein said lifting device is provided on said first frame; The lifting device includes a first fixed plate and a second fixed plate arranged in layers, and a lifting member connecting the first fixed plate and the second fixed plate, the first fixed plate is located near the housing On one side, the supporting structure is connected to the second fixing plate. The conveyor according to claim 20, wherein the lifting member includes a first support rod, one end of the first support rod is movably arranged on the first fixed plate, and the other end is rotatably arranged on the second fixed plate. plate. The conveyor according to claim 20, wherein the lifting member further comprises a second support rod, one end of the second support rod is rotatably arranged on the first fixed plate, and the other end is movably arranged on the second Fixed plate. The conveyor according to claim 6, wherein the first translation device comprises: a slide, a translation motor, a slide rail, and a rack; the translation motor is fixed on the slide, and the two slide rails are spaced apart. It is provided that the slider is slidably arranged between the two slide rails, the output end of the translation motor is in drive connection with the rack, and the slider is sheathed outside the lifting device. The conveyor according to claim 6, wherein the lifting device comprises: a lifting motor, a threaded rod, a connecting column, and a connecting cross bar; the output end of the lifting motor is connected to the threaded rod, and the threaded rod is far away from the One end of the lifting motor is screwed to the connecting column, the horizontal sliding part is sleeved on the outside of the connecting column, the connecting column is in the shape of a regular polygon, and the bottom of the connecting column is fixedly connected to the connecting cross bar , the two lifting devices are fixedly connected through the connecting cross bar.

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