CN116138670A - Cleaning device - Google Patents

Abstract

The invention relates to the technical field of cleaning robots, and discloses a cleaning device, which comprises: a main body; the power mechanism is arranged on the main body and used for driving the main body to move; the cleaning mechanism is arranged on the main body or the power mechanism; the cleaning mechanism is configured to oscillate relative to the main body and/or the cleaning mechanism is configured to displace relative to the main body. The cleaning mechanism of the cleaning device is movably arranged on the main body or the power mechanism and can swing or displace relative to the main body, so that the cleaning mechanism can adaptively adjust the relative position relation with the surface to be cleaned according to the surface environment of the surface to be cleaned in the cleaning process, and the cleaning mechanism can always keep the contact state with the surface to be cleaned according to the actual scene, thereby expanding the applicable scene of the cleaning device.

Description

Cleaning device

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a cleaning device.

Background

With the improvement of living standard of people, the cleaning robot walks into more and more families, and liberates both hands of human beings. Some current cleaning robots have a cleaning mechanism fixed to a main body of the cleaning robot, and the cleaning robot is kept in contact with a surface to be cleaned through the cleaning mechanism, and cleaning of the surface to be cleaned can be achieved when the cleaning mechanism moves on the surface to be cleaned.

However, when the surface to be cleaned is uneven, for example, when the surface to be cleaned has an arc surface or an inclined surface, when the cleaning robot moves from the flat surface to be cleaned to the surface to be cleaned of the arc surface or the inclined surface, the cleaning mechanism cannot be kept in good contact with the new surface to be cleaned, and thus cannot clean all areas, resulting in that the cleaning robot can only work in a single environment where the surface to be cleaned is very flat. Therefore, it is necessary to provide a cleaning robot applicable to more use cases.

Disclosure of Invention

In view of the defects in the prior art, the invention provides the cleaning device, which can automatically adjust the relative position relationship between the cleaning mechanism and the surface to be cleaned under a complex environment to be cleaned, and expands the application scene of the cleaning device.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

a cleaning device, comprising:

a main body;

the power mechanism is arranged on the main body and used for driving the main body to move;

the cleaning mechanism is arranged on the main body or the power mechanism;

the cleaning mechanism is configured to oscillate relative to the main body and/or the cleaning mechanism is configured to displace relative to the main body.

As one embodiment, the cleaning device further comprises a floating frame, wherein the floating frame is arranged on the power mechanism or the main body; the floating frame is in clearance fit with the main body or is attached to the main body;

the cleaning mechanism is provided on the floating frame for swinging relative to the main body and/or the floating frame for displacing relative to the main body.

As one embodiment, the cleaning device further includes:

the travelling mechanism is arranged on the main body or the power mechanism, the power mechanism is used for driving the travelling mechanism to move on a surface to be cleaned, and the main body is used for driving the cleaning mechanism to move;

at least one of the cleaning mechanism and the travelling mechanism can displace relative to the main body.

As one embodiment, the travelling mechanism comprises a travelling disk with a disk surface facing the surface to be cleaned, the travelling disk is coupled with the power mechanism, and the floating frame is limited between the travelling disk and the main body.

As one embodiment, the traveling tray includes a tray portion and a protrusion portion protruding from the tray portion toward the main body, the tray portion having a radial dimension greater than a radial dimension of the protrusion portion, the protrusion portion being coupled to the power mechanism after passing through a rotation center of the floating frame.

As one embodiment, the power mechanism includes:

the walking mechanism is coupled with the output shaft and is coaxially arranged;

a universal joint including a first end and a second end, the first end of the universal joint coupled with the output shaft, the second end of the universal joint swingably disposed relative to the output shaft and coupled with the floating frame to transfer torque to the cleaning mechanism.

As one embodiment, the cleaning mechanism comprises a cleaning disc, and the cleaning disc is arranged on the periphery of the travelling mechanism; and a gap exists between the cleaning disc and the travelling mechanism, or the cleaning disc is attached to the travelling mechanism.

As one embodiment, the travelling mechanism comprises a travelling disk with a disk surface facing the surface to be cleaned, and the disk surface of the travelling disk is obliquely arranged relative to the central axis of the main body.

As one embodiment, the cleaning device comprises two travelling mechanisms, two cleaning mechanisms and two power mechanisms, wherein each power mechanism corresponds to one cleaning mechanism and one travelling mechanism respectively.

As one of the implementation modes, a through hole is formed in the rotation center of the floating frame, and a plurality of convex parts are arranged on the power mechanism at intervals in the circumferential direction;

The inner wall of the through hole is correspondingly provided with an elongated slot extending along the axial direction of the through hole, the power mechanism part is arranged in the through hole in a penetrating mode, and the convex part is slidably arranged in the corresponding elongated slot.

As one embodiment, the surfaces of one of the floating frame and the main body facing each other are provided with annular protrusions, the surfaces of the other of the floating frame and the main body facing each other are provided with annular grooves, and the annular protrusions are embedded in the annular grooves and are in clearance fit or fit with the annular grooves.

As one embodiment, the cleaning mechanism comprises a first air passage facing the surface to be cleaned, the floating frame comprises a second air passage through which air can pass, and the main body comprises a first cavity for communicating with a negative pressure device, and the second air passage communicates with the first cavity and the first air passage.

As one embodiment, the cleaning device further includes:

the pressure release mechanism is communicated with the cleaning mechanism and used for being opened to release pressure when the negative pressure between the cleaning mechanism and the surface to be cleaned is larger than a preset threshold value.

The cleaning mechanism of the cleaning device is movably arranged on the main body or the power mechanism and can swing or displace relative to the main body, so that the cleaning mechanism can adaptively adjust the relative position relation with the surface to be cleaned according to the surface environment of the surface to be cleaned in the cleaning process, and the cleaning mechanism can always keep the contact state with the surface to be cleaned according to the actual scene, thereby expanding the applicable scene of the cleaning device.

Drawings

FIG. 1A is a schematic view of a cleaning apparatus according to an embodiment of the present invention;

FIG. 1B is an exploded view of a cleaning device according to an embodiment of the present invention;

FIG. 2 shows an exploded schematic view of the power mechanism, floating frame, running mechanism, cleaning mechanism of a cleaning device according to an embodiment of the present invention;

FIG. 3A is a cross-sectional view of a cleaning device according to an embodiment of the present invention;

FIG. 3B is a schematic view showing the manner in which a floating frame cooperates with a body in accordance with an embodiment of the present invention;

FIG. 4A is a schematic view showing a partial structure of a cleaning apparatus according to an embodiment of the present invention;

FIG. 4B shows an exploded schematic view of a power mechanism according to an embodiment of the present invention;

fig. 5 is an enlarged view of S in fig. 3A;

FIG. 6 is a schematic diagram showing the internal structure of a pressure relief mechanism according to an embodiment of the present invention;

FIG. 7 shows an exploded view of a pressure relief mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic view of another cleaning apparatus according to an embodiment of the present invention;

fig. 9 shows a schematic view of the internal structure of the cleaning device of fig. 8.

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

Detailed Description

In the present invention, the terms "disposed," "provided," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counter-clockwise," "axial," "radial," "circumferential," etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present invention will be understood by those of ordinary skill in the art according to the specific circumstances.

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Embodiments of the present invention provide a cleaning device that is primarily used to clean soiled surfaces of objects (e.g., window panes, wall glass, floors, walls, etc.). The cleaning device of the application can be a cleaning device which needs to be adsorbed on a surface to be cleaned, such as a window cleaner, a wall cleaner, a roof cleaner and the like, or can be a cleaning device which does not need to be adsorbed on a surface to be cleaned, such as a floor cleaner and the like.

Referring to fig. 1A and 1B, the cleaning device of the present embodiment mainly includes a main body 10, and a power mechanism 20 and a cleaning mechanism 40 provided on the main body 10, wherein the power mechanism 20 of the main body 10 is used for driving the main body 10 to move, the cleaning mechanism 40 is used for swinging relative to the main body 10, and/or the cleaning mechanism 40 is used for displacing relative to the main body 10. Illustratively, the power mechanism 20 is disposed inside the main body 10, the cleaning mechanism 40 is disposed on the bottom surface of the main body 10, the cleaning mechanism 40 swings relative to the main body 10, and may be biased in one or more directions deviating from the central axis of the main body 10, and the cleaning mechanism 40 may be displaced relative to the main body 10, in such a manner that the cleaning mechanism 40 moves relative to the main body 10 in a direction perpendicular to the bottom surface of the main body 10, for example, the cleaning mechanism 40 and the main body 10 may approach each other or separate from each other. The cleaning mechanism 40 may be provided on the main body 10 or on the power mechanism 20. It will be appreciated that the cleaning mechanism 40 may float relative to the body 10, for example the cleaning mechanism 40 floats towards the body 10, or the cleaning mechanism 40 floats away from the body 10.

The cleaning mechanism 40 of the present embodiment may be movable with respect to the main body in such a manner that the cleaning mechanism 40 swings only with respect to the main body 10, or the cleaning mechanism 40 is displaced only with respect to the main body 10, or the cleaning mechanism 40 may swing or be displaced with respect to the main body 10. The cleaning device of the present application can adaptively adjust the state of the cleaning mechanism 40 according to the use situation.

When the cleaning device is placed on the surface to be cleaned for cleaning, the power mechanism 20 drives the main body 10 to move, so that the cleaning mechanism 40 is driven to wipe the surface to be cleaned, and when the cleaning device travels to the uneven surface to be cleaned, the cleaning mechanism 40 can automatically incline and/or approach towards the surface to be cleaned under the action of vacuum suction force according to the inclination degree of the surface to be cleaned, so that the cleaning mechanism 40 can be tightly attached to the surface of the surface to be cleaned in real time, and moves along in the moving process of the main body 10 to clean the surface to be cleaned. It will be appreciated that in some cleaning devices that rely on manual grasping of the main body 10 to wipe a surface to be cleaned, as long as the cleaning mechanism 40 is configured to swing and/or displace relative to the main body 10, the cleaning mechanism 40 may also automatically tilt and/or approach toward the surface to be cleaned under the action of the pressing force applied by the operator according to the tilting degree of the surface to be cleaned, so as to achieve the effect of adaptively fitting the cleaning mechanism 40 to the surface to be cleaned. It will be appreciated that, in some cleaning devices for automatically wiping a surface to be cleaned, as long as the cleaning mechanism 40 adopts the above connection manner, the cleaning mechanism 40 can swing and/or displace relative to the main body 10, and the cleaning mechanism 40 can also automatically tilt and/or approach towards the surface to be cleaned according to the tilting degree of the surface to be cleaned, so as to achieve the effect of adaptively fitting the cleaning mechanism 40 to the surface to be cleaned.

In one embodiment, the cleaning device includes a floating frame 50, where the floating frame 50 is disposed on the power mechanism 20, and the floating frame 50 is in clearance fit with the main body 10 or is attached to the main body 10, that is, the floating frame 50 and the main body 10 may have a clearance therebetween, or may contact each other, for example, may be close to each other, and may only need to perform relative movement. The cleaning mechanism 40 is provided on the floating frame 50, the floating frame 50 is configured to swing relative to the main body 10, and/or the floating frame 50 is configured to displace relative to the main body 10, the floating frame 50 swings relative to the main body 10 in such a manner that one or more directions deviating from the central axis of the main body 10 deviate, and the floating frame 50 moves relative to the main body 10 in such a manner that the floating frame 50 moves relative to the main body 10 in a direction perpendicular to the bottom surface of the main body 10, for example, the floating frame 50 and the main body 10 may approach each other or separate from each other. The floating frame 50 may swing only with respect to the main body 10, may be displaced only with respect to the main body 10, or may swing or be displaced with respect to the main body 10. It will be appreciated that the floating frame 50 may float relative to the body 10, for example, with the floating frame 50 floating toward the body 10, or with the floating frame 50 floating away from the body 10. The floating frame 50 may be fitted to the main body 10 during the floating of the floating frame 50, or the floating frame 50 may have a gap with the main body 10.

Since the cleaning mechanism 40 is disposed on the floating frame 50, during the swinging and/or displacement of the floating frame 50 relative to the main body 10, the cleaning mechanism 40 is also driven by the floating frame 50 to swing and/or displace relative to the main body 10, so as to realize the self-adaptive adjustment relative to the surface to be cleaned.

Referring to fig. 1B and 3A, the cleaning device of the present embodiment includes a main body 10, a power mechanism 20, a traveling mechanism 30 and a cleaning mechanism 40, wherein the main body 10 is provided with a negative pressure inlet 100, the power mechanism 20 is disposed on the main body 10, the traveling mechanism 30 is disposed on a bottom surface of the main body 10, and drives the main body 10 to move along a surface to be cleaned under the driving of the power mechanism 20, and the cleaning mechanism 40 is also disposed on the bottom surface of the main body 10, and includes a first air passage 400 communicating the negative pressure inlet 100 with the surface to be cleaned, and can move along with the main body 10, thereby realizing contact with the surface to be cleaned and relative movement. It will be appreciated that the travelling mechanism 30 may be provided on the main body 10 or the power mechanism 20, the power mechanism 20 being used to drive the travelling mechanism 30 to move over the surface to be cleaned, the main body 10 being used to drive the cleaning mechanism 40 to move _。

The cleaning device may further include a duct 100a, the duct 100a having an interface connected to the main body 10, and the other end of the duct 100a being connected to an external suction device by connecting the interface of the duct 100a to the main body 10 such that the first air passage 400 of the cleaning mechanism 40, the negative pressure inlet 100 of the main body 10 communicate with the suction device, whereby negative pressure can be drawn by the suction device, creating negative pressure between the cleaning mechanism 40 and the surface to be cleaned. When the travelling mechanism 30 travels on the surface to be cleaned, the main body 10 and the cleaning mechanism 40 are driven to move on the surface to be cleaned, so as to clean the surface to be cleaned.

In some embodiments, the suction device may be disposed inside the cleaning device, or may be independent of the cleaning device, and the suction device may be used to form negative pressure between the cleaning mechanism 40 and the surface to be cleaned, so that the cleaning device may be adsorbed on the surface to be cleaned, and the adsorption and fixation on the vertical surface, such as glass, ceramic tile, and other cleaning surfaces may be achieved. After the cleaning device is adsorbed on the surface to be cleaned, the power mechanism 20 drives the travelling mechanism 30 to move on the surface to be cleaned, so that the cleaning device can travel on the surface to be cleaned. For example, in some embodiments, the travelling mechanism 30 may be a travelling wheel, and the travelling wheel is driven by the power mechanism 20 to roll on the surface to be cleaned, and the cleaning device may be driven to move on the surface to be cleaned by virtue of friction generated between the travelling wheel and the surface to be cleaned; for another example, the travelling mechanism 30 may also include a travelling disk 31 with a disk surface facing the surface to be cleaned, and when the cleaning device is in operation, the travelling disk 31 has a high friction area and a low friction area in contact with the surface to be cleaned, and the friction between the high friction area and the surface to be cleaned is greater than the friction between the low friction area and the surface to be cleaned. The friction force between different areas of the walking disc and the surface to be cleaned is different, so that the friction force difference exists between each walking disc and the surface to be cleaned, and the friction force difference can provide the power for the cleaning device to linearly walk, so that the cleaning device can walk on the surface to be cleaned.

In one embodiment, the cleaning mechanism 40 or the main body 10 may be provided with an absorbing member, such as a suction cup, which can assist in absorbing the cleaning surface to improve the absorbing ability of the cleaner, and prevent the cleaner from falling down in the event of unexpected interruption of negative pressure, etc.

In one embodiment, at least one of the cleaning mechanism 40 and the running mechanism 30 may oscillate and/or displace relative to the main body. For example, when the cleaning mechanism 40 and the travelling mechanism 30 can swing and/or displace relative to the main body, the cleaning mechanism 40 and the travelling mechanism 30 can adaptively adjust the relative state of the cleaning mechanism and the travelling mechanism 30 according to the environment of the surface to be cleaned; alternatively, when one of the cleaning mechanism 40 and the running mechanism 30 is swingable and/or displaceable relative to the main body, the other mechanism which is not swingable and/or displaceable relative to the main body is moved with the main body 10.

Illustratively, the cleaning mechanism 40 is disposed to be relatively movable with respect to the running mechanism 30 in a direction perpendicular to the bottom surface of the main body 10. That is, the height difference between the cleaning mechanism 40 and the running mechanism 30 relative to the surface to be cleaned is adjustable, so that the cleaning mechanism 40 and the running mechanism 30 can adapt to uneven surfaces or work in an unstable negative pressure environment. For example, when the travelling mechanism 30 travels on an uneven surface, the cleaning mechanism 40 may stretch and retract relative to the travelling mechanism 30, and the negative pressure space formed between the cleaning mechanism 40 and the surface to be cleaned is adaptively changed, so as to realize automatic adjustment of the negative pressure, thereby maintaining the contact state with the surface to be cleaned under the action of the negative pressure. For another example, when the negative pressure environment is unstable, if the negative pressure is large, the cleaning mechanism 40 and the travelling mechanism 30 are close to each other under the action of the large negative pressure, so that the volume of the negative pressure space is slightly reduced, and the cleaning mechanism 40 and the travelling mechanism 30 are ensured to be in contact with the surface to be cleaned; on the contrary, if the negative pressure is smaller, the cleaning mechanism 40 and the travelling mechanism 30 are mutually far away under the action of the smaller negative pressure, so that the volume of the negative pressure space is slightly increased, and the cleaning mechanism 40 and the travelling mechanism 30 can be ensured to be kept in contact with the surface to be cleaned.

The cleaning mechanism and the travelling mechanism of the cleaning device can move relatively in the direction perpendicular to the bottom surface of the main body, so that the relative height between the cleaning mechanism and the travelling mechanism can be adjusted adaptively according to the surface environment of the surface to be cleaned and the negative pressure environment of the cleaning device during cleaning, and the cleaning mechanism and the travelling mechanism can always keep the contact state with the surface to be cleaned according to the actual scene, and maintain the proper negative pressure state in the device.

The cleaning mechanism 40 and the running mechanism 30 may be provided so as to be movable relative to each other in a direction perpendicular to the bottom surface of the main body 10, and the cleaning mechanism 40 may be movable relative to the main body 10 in a direction perpendicular to the bottom surface of the main body 10, the running mechanism 30 may be movable relative to the main body 10 in a direction perpendicular to the bottom surface of the main body 10, or both the cleaning mechanism 40 and the running mechanism 30 may be movable relative to the main body 10 in a direction perpendicular to the bottom surface of the main body 10. For example, when the running mechanism 30 is movable relative to the main body 10 in a direction perpendicular to the bottom surface of the main body 10, in order to facilitate the frictional contact between the running mechanism 30 and the surface to be cleaned, an elastic member (such as a tension spring or a compression spring) may be installed between the running mechanism 30 and the main body 10, or between the running mechanism 30 and the cleaning mechanism 40, and the running mechanism 30 may be elastically biased in a direction opposite to the main body 10 under the action of the elastic member, so as to maintain an abutting state with the surface to be cleaned.

In a specific embodiment, both the running gear 30 and the cleaning mechanism 40 are disposed on the power mechanism 20. Alternatively, the cleaning mechanism 40 is provided to the power mechanism 20 via a floating frame 50. The cleaning mechanism 40 may be sleeved outside the running mechanism 30. Both the cleaning mechanism 40 and the traveling mechanism 30 can be rotated to travel under the driving of the power mechanism 20. During the rotational travel of the cleaning mechanism 40 and the travel mechanism 30, the floating frame 50 is deflected relative to the power mechanism 20, or the floating frame 50 is displaced relative to the power mechanism 20 (toward or away), so that the cleaning mechanism 40 is deflected relative to the main body 10 or relative to the power mechanism 20, or the floating frame 50 is displaced relative to the power mechanism 20 or relative to the main body 10 (toward or away).

In the above description, the running mechanism 30 and the cleaning mechanism 40 are two different mechanisms, and the two mechanisms are separately arranged, it is to be understood that in other embodiments, the cleaning mechanism 40 itself has a running function, that is, the running mechanism 30 and the cleaning mechanism 40 are integrally arranged, and the running mechanism 30 on the cleaning mechanism 40 correspondingly and synchronously acts during the swinging and/or displacement of the cleaning mechanism 40 relative to the main body 10. Further, during the swinging and/or displacement of the floating frame 50 relative to the main body 10, the running mechanism 30 is also driven by the floating frame 50 to swing and/or displace relative to the main body 10.

For convenience of description, the implementation principle of the present application will be described below in an embodiment in which the cleaning mechanism 40 moves relative to the main body 10 in a direction perpendicular to the bottom surface of the main body 10, and the traveling mechanism 30 is stationary relative to the main body 10 in a direction perpendicular to the bottom surface of the main body 10, and it should be noted that the present application is not limited thereto.

As shown in connection with fig. 1B to 3A, the cleaning device of the present embodiment includes a floating frame 50, and the floating frame 50 is movably provided in a direction perpendicular to the bottom surface of the main body 10. One end of the floating frame 50 is coupled to the power mechanism 20, and the other end is relatively fixed to the cleaning mechanism 40 to transmit torque of the power mechanism 20 to the cleaning mechanism 40, and the cleaning mechanism 40 is rotatably disposed with respect to the main body 10 under the driving of the power mechanism 20. Alternatively, the cleaning mechanism 40 includes a cleaning tray 41, the cleaning tray 41 rotationally walks, and the cleaning tray 41 cleans the surface to be cleaned during the rotational walking. The traveling mechanism 30 is coupled with the power mechanism 20 to travel over the surface to be cleaned under the drive of the power mechanism 20. Optionally, the travelling mechanism 30 includes a travelling disk 31, the travelling disk 31 rotates and travels, and the travelling disk 31 drives the main body 10 to move during the rotation and travel. Because the floating frame 50 can move in the direction towards and away from the main body 10, but the power mechanism 20 cannot, when the power mechanism 20 walks on the surface to be cleaned, the cleaning mechanism 40 can adaptively approach or depart from the main body 10 under the driving of the floating frame 50, so that the automatic adjustment of the negative pressure between the first air channel 400 and the surface to be cleaned is realized.

In some possible embodiments, one end of the floating frame 50 may be connected to the power mechanism 20 and/or the main body 10, and the other end may be connected to the cleaning mechanism 40. Herein, "connected" includes the case of rotatable connection, and also includes the case of relatively fixedly connected. For example, when the two ends of the floating frame 50 are respectively fixed relative to the main body 10 and the cleaning mechanism 40, the floating frame 50 and the cleaning mechanism 40 cannot be driven to rotate by the power mechanism 20, which is equivalent to that the cleaning mechanism 40 is fixed on the bottom surface of the main body 10 and does not rotate, and the cleaning mechanism 40 can only move along with the movement of the main body 10 to clean the surface to be cleaned; when one end of the floating frame 50 is fixed relative to the power mechanism 20 and the other end is fixed relative to the cleaning mechanism 40, the floating frame 50 can be driven to rotate by the power mechanism 20, the cleaning mechanism 40 can be driven to rotate by the floating frame 50, the surface to be cleaned can be cleaned along with the movement of the main body 10, and the surface to be cleaned can also be rotated relative to the main body 10, namely, the situation shown in the previous figures 1B-3A; when the floating frame 50 is rotatably connected to the power mechanism 20 or rotatably connected to the cleaning mechanism 40, the torque of the power mechanism 20 cannot be transmitted to the cleaning mechanism 40, and the cleaning mechanism 40 can still clean the surface to be cleaned only with the movement of the main body 10.

In one embodiment, the cleaning mechanism 40 includes a cleaning disk 41, for example, an annular cleaning disk 41 is disposed around the periphery of the running gear 30, and the first air passage 400 includes a gap formed between the cleaning disk 41 and the running gear 30. The cleaning tray 41 and the travelling mechanism 30 may have a gap therebetween, or may be attached to the travelling mechanism 30, that is, the cleaning tray 41 and the travelling mechanism 30 may have a gap therebetween, or may be in contact with each other, for example, may be in close contact with each other, and only the two may be moved relatively. In some embodiments, the first air passage 400 may be formed in the wall of the cleaning tray 41 when the cleaning tray 41 is attached to the running gear 30, or may communicate with the surface to be cleaned through the running gear 30. The traveling mechanism 30 may include a traveling tray 31 having a tray surface facing the surface to be cleaned, the traveling tray 31 being coupled to the power mechanism 20, and the floating frame 50 being movably restrained between the traveling tray 31 and the main body 10 in an axial direction thereof (e.g., a direction approaching or moving away from the main body 10). The cleaning mechanism 40 may further include a cleaning member 42 sleeved on the outer peripheral surface of the cleaning disc 41, where the cleaning member 42 may be a rag, and the cleaning member 42 may be directly sleeved on the cleaning disc 41 by means of elasticity, and also may be provided on the cleaning disc 41 by means of a fixing member or glue, for example, may be adhered to the cleaning disc 41 by means of a velcro.

In other embodiments, the traveling tray 31 may be enclosed outside the cleaning tray 41, or the traveling mechanism 30 and the cleaning mechanism 40 may be mounted on different portions of the main body 10. Alternatively, the travelling mechanism 30 may be a travelling wheel, i.e. the travelling mechanism 30 rolls over the surface to be cleaned.

Illustratively, the cleaning device includes two cleaning mechanisms 40 and two travelling mechanisms 30, each cleaning mechanism 40 is disposed in pairs with one travelling mechanism 30, and the cleaning tray 41 is sleeved outside the travelling tray 31, so that the cleaning tray 41 can serve as an auxiliary support for the travelling tray 31, and the travelling tray 31 is prevented from slipping when encountering water, so that the travelling tray 31 can travel stably. The travelling mechanism 30 moves to drive the main body 10 and the cleaning mechanism 40 to move, for example, the cleaning device performs wiping and cleaning on the surface to be cleaned by means of alternate travelling or simultaneous travelling of the two travelling mechanisms 30.

In one embodiment, the traveling tray 31 includes a tray portion 32 and a boss 33 protruding from the tray portion 32 toward the main body 10, the tray portion 32 having a radial dimension greater than that of the boss 33, the boss 33 being coupled to the power mechanism 20 after passing through the rotation center of the floating frame 50. In this way, the traveling tray 31 can realize traveling while realizing restriction of the floating range of the floating frame 50. As shown in fig. 2 to 4A, the floating frame 50 has a through hole 51 formed in the rotation center thereof, and the traveling plate 31 includes a plate portion 32 and a boss portion 33 extending from the plate portion 32 toward the main body 10, the plate portion 32 having a radial dimension larger than that of the boss portion 33, and the boss portion 33 being coupled to the power mechanism 20 after passing through the through hole 51.

In one embodiment, the disc surface of the traveling disc 31 may be inclined with respect to the central axis of the main body 10, so that an included angle is formed between the disc surface of the traveling disc 31 and the surface to be cleaned, the force applied to the surface to be cleaned by the traveling disc 31 is uneven during the rotation of the traveling disc 31, and the friction forces applied to different parts of the traveling disc 31 are different, so that the traveling disc 31 can travel during the rotation, and the cleaning mechanism 40 can reach different positions of the surface to be cleaned for cleaning.

As shown in fig. 4A and 4B, in one embodiment, the power mechanism 20 on the main body 10 includes:

an output shaft 22 for outputting torque, and a running mechanism 30 coupled to the output shaft 22 and coaxially disposed;

the universal joint 23 includes a first end and a second end, the first end of the universal joint 23 is coupled with the output shaft 22, and the second end of the universal joint 23 is swingably provided with respect to the output shaft 22 away from an axial direction of the output shaft 22 and is coupled with the floating frame 50 to transmit torque to the cleaning mechanism 40. The first end of the universal joint 23 serves as a torque input end, can coaxially input torque, and the second end serves as a torque output end, can swing relative to the torque input end and is coupled with the floating frame 50, so that the universal joint 23 can transmit torque to the floating frame 50, and can allow the floating frame 50 to swing relative to the torque input end in the direction deviating from the axis of the output shaft 22, and therefore the cleaning mechanism 40 swings relative to the power mechanism 20.

By coaxially arranging the traveling mechanism 30 and the output shaft 22, the cleaning mechanism 40 and the output shaft 22 are swingably arranged, so that the cleaning mechanism 40 can be adaptively swung according to the flatness of the surface to be cleaned in the traveling process of the traveling mechanism 30, and is not limited by the situation that the central axis of the cleaning mechanism 40 must be consistent with the central axis of the traveling plate 31, so that the cleaning mechanism 40 can be better adapted to the movement state of the traveling mechanism 30.

Fig. 4A shows a case where the output shaft 22 of the power mechanism 20 is inclined with respect to the central axis of the main body 10, and the traveling tray 31 is mounted at the end of the output shaft 22 of the power mechanism 20, thereby realizing that the tray surface of the traveling tray 31 is inclined with respect to the surface to be cleaned. It should be understood that the present application is not limited thereto, and in other embodiments, the output shaft 22 of the power mechanism 20 and the rotation axis of the traveling plate 31 may not be inclined, but only the surface of the traveling plate 31 may be an inclined surface, so that an included angle between the surface of the traveling plate 31 and the surface to be cleaned may still be formed, and friction forces applied to different portions of the traveling plate 31 may be different, so as to drive the cleaning device to travel on the surface to be cleaned; or, the traveling plate 31 is coupled to the output shaft 22 of the power mechanism 20 and can deflect relative to the output shaft 22, and the traveling plate 31 and the main body 10 can be respectively provided with magnets to realize magnetic force of attraction or repulsion between the traveling plate 31 and the main body 10, so that the traveling plate 31 always receives the magnetic force of the main body 10 in the rotating process to maintain the inclination angle of the plate surface relative to the surface to be cleaned.

Illustratively, to effect oscillation of the floating frame 50 relative to the output shaft 22, the gimbal 23 includes a coupling member 232 and an engagement member 233, the engagement member 233 being a first end of the gimbal 23, the coupling member 232 being a second end of the gimbal 23, the coupling member 232 being coupled to the floating frame 50, the engagement member 233 being in oscillating connection with the output shaft 22 and the coupling member 232, respectively, and the direction in which the engagement member 233 oscillates relative to the output shaft 22 being perpendicular to the direction in which the engagement member 233 oscillates relative to the coupling member 232.

For example, as shown in fig. 4B, the engaging member 233 includes two mutually perpendicular rotation shafts 233a, 233B, and the engaging member 233 is rotatably connected to the output shaft 22, and the engaging member 233 and the coupling member 232 with respect to one of the rotation shafts 233a/233B, respectively. Illustratively, each of the rotary shafts 233a, 233b is a pair of cylinders protruding outward from both sides of the engagement member 233 in the radial direction, respectively, the engagement member 233 being rotatably connected to the output shaft 22 by a pair of cylinders in the radial direction thereof, and being rotatably connected to the coupling member 232 by another pair of cylinders in the radial direction thereof; alternatively, each pair of cylinders may be connected to form a shaft through the radial direction of the engagement member 233, and the engagement member 233 is rotatably connected to the output shaft 22 and the coupling member 232 by two shafts extending through the two shafts in different radial directions. In this way, the universal joint 23 can realize that the input end and the output end of the universal joint can deflect relative to any direction and simultaneously can transmit torque. It is to be understood that in fig. 4B, the rotation shafts 233a and 233B are two pairs, and of course, the rotation shafts on the engagement member 233 of the present application are not limited to two pairs, but may be other numbers, such as one pair, three pairs, and four pairs. The number of rotation shafts on the engagement member 233 of the present application is at least one. At least one pair of rotational shafts of the present application allows the floating frame 50 to oscillate with respect to the torque input end in a direction offset from the axial center of the output shaft 22, thereby effecting the oscillation of the cleaning mechanism 40 with respect to the power mechanism 20. The cleaning mechanism 40 of the present application may oscillate in at least one direction, such as one direction, two directions, three directions, etc., with respect to the main body 10. The direction in which the cleaning mechanism 40 swings is not limited in this application.

It should be understood that, in other embodiments, the direction in which the engaging member 233 swings relative to the output shaft 22 may be different from the direction in which the engaging member 233 swings relative to the coupling member 232, and may be at an angle, i.e. the axes of the two mutually rotating shafts on the engaging member 233 may be disposed to intersect each other. Alternatively, in other embodiments, the engaging member 233 may be only connected to one of the output shaft 22 and the coupling member 232 in a swinging manner, and only one rotation shaft may be provided on the engaging member 233 to be connected to one of the output shaft 22 and the coupling member 232 in a rotating manner, or the engaging member 233 may be omitted directly, so that the output shaft 22 and the coupling member 232 are connected to each other in a rotating manner.

In the embodiment shown in fig. 4A and 4B, the power mechanism 20 further includes:

the driving member 21 is used for generating driving force, and the driving member 21 can be a motor or a power output assembly formed by the motor and a gear or a gear train;

the transmission assembly 24 has one end coupled to the driving member 21 and the other end coupled to the universal joint 23, so as to transmit the driving force of the driving member 21 to the universal joint 23, and then the universal joint 23 drives the corresponding cleaning mechanism 40 and the traveling mechanism 30 to rotate.

The high speed rotation of the driving member 21 can be converted to a low speed rotation by the transmission assembly 24 to accommodate the cleaning requirements. Illustratively, the transmission assembly 24 includes a sun gear 241, planetary gears 242 and a carrier 243, the main body 10 includes an annular inner gear ring 102 with teeth on the inner ring, the sun gear 241 includes a toothed sleeve portion 241a and a gear portion 241b coaxially disposed, the toothed sleeve portion 241a is meshed with the driving member 21, the plurality of planetary gears 242 are fixed on the carrier 243 through respective rotation shafts and located around the central axis of the carrier 243, each planetary gear 242 is rotatably connected to the carrier 243, located between the gear portion 241b and the inner gear ring 102 and meshed with the gear portion 241b and the inner gear ring 102 at the same time, the rotation shaft of the planetary gears 242 is consistent with the axial direction of the central axis of the carrier 243, and the carrier 243 is coaxially disposed with the output shaft 22 and is synchronously rotated under the driving of the planetary gears 242. Here, the diameter of the tooth cover portion 241a is larger than the gear portion 241b.

Fig. 4A and 4B show a case where the output shaft 22 is integrally provided with the carrier 243, the carrier 243 is provided with a rotation shaft hole 244 through which the rotation shaft 233a of the engaging member 233 passes, and the coupling member 232 is provided with another pair of rotation shaft holes through which the rotation shaft 233B of the engaging member 233 passes. It will be appreciated that the carrier 243 and the output shaft 22 may be two separate parts that are relatively fixed together or may be integrally formed.

When the driving member 21 is operated, the gear sleeve portion 241a of the sun gear 241 is driven to rotate, the gear portion 241b is driven to rotate to drive the respective planetary gears 242 to rotate, the inner tooth surface of the ring gear 102 is engaged with each of the planetary gears 242, and the carrier 243 is driven to rotate around the center thereof by the rotation of the planetary gears 242, and the output shaft 22 and the carrier 243 are synchronously rotated. Illustratively, for better rotation, bearings 25 are mounted between the carrier 243 and the body 10, for example, between the carrier 243 and the ring gear 102.

For better walking, the output shaft 22 is disposed obliquely with respect to the central axis of the main body 10. The cleaning device comprises two travelling mechanisms 30, two cleaning mechanisms 40 and two power mechanisms 20, wherein each power mechanism 20 corresponds to one cleaning mechanism 40 and travelling mechanism 30 respectively. Illustratively, both output shafts 22 are inclined toward the central axis of the body 10.

Referring to fig. 2, in order to achieve the approaching and separating of the floating frame 50 with respect to the main body 10, a through hole 51 is formed at the rotation center of the floating frame 50, a plurality of protrusions 230 are provided at intervals in the circumferential direction of the power mechanism 20, and the protrusions 230 may be provided at the outer circumferential surface of a coupling member 232 of the universal joint 23. Correspondingly, the inner wall of the through hole 51 is correspondingly provided with an elongated slot 510 extending along the axial direction, the power mechanism 20 is partially penetrated in the through hole 51, and the convex part 230 is slidably arranged in the corresponding elongated slot 510.

It will be appreciated that the positions of the protrusions 230 and the slots 510 may be interchanged, i.e., the protrusions 230 are provided on the floating frame 50 and the slots 510 are provided on the power mechanism 20.

In one embodiment, as shown in fig. 2 and 3A and 3B, the floating frame 50 includes a second air passage 500 through which air can pass, the second air passage 500 communicating the negative pressure inlet 100 with the first air passage 400. The floating frame 50 is annular, the main body 10 comprises a first cavity 101 which is communicated with the negative pressure inlet 100 and the second air passage 500, annular protrusions A are arranged on the surfaces, facing each other, of one of the floating frame 50 and the main body 10, annular grooves B are arranged on the surfaces, facing each other, of the other of the floating frame 50 and the main body 10, and the annular protrusions A are embedded in the annular grooves B and are matched with the annular grooves B. The annular groove B and the annular protrusion A cooperate to form a labyrinth air seal path, so that the floating frame 50 can rotate relative to the main body 10 and gas can leak slowly from the floating frame, and a stable negative pressure environment is maintained. Illustratively, the first air passages 400 of each cleaning mechanism 40 are each in communication with the first cavity 101 to simultaneously provide a negative pressure environment for a plurality of cleaning mechanisms 40 through one negative pressure inlet 100. The cleaning device can further comprise a sealing ring 60, and the sealing ring 60 is arranged in the annular groove B, so that the air sealing effect can be improved. Optionally, a gap is formed between the annular protrusion A and the annular groove B, or the annular protrusion A is in fit with the annular groove B.

As shown in connection with fig. 1B and 3A, the main body 10 may illustratively include a lower case 11, an upper case 12, and a cover plate 13, the lower case 11 and the upper case 12 enclosing an installation space for internal structural members such as a driving member 21, a transmission assembly 24, etc., and the lower case 11 and the cover plate 13 enclosing a first cavity 101.

Referring to fig. 4A, 4B and 5, the floating frame 50 is vertically floatable up and down with respect to the universal joint 23, and the cleaning mechanism 40 is fixed to the floating frame 50 by means of a snap or the like, so that the cleaning mechanism 40 can move up and down with respect to the traveling mechanism 30, and when the cleaning mechanism 40 moves to the uppermost position, i.e., closest to the main body 10, the cleaning mechanism 40 is located at H1 in fig. 5, at which time there is a maximum interval between the cleaning tray 41 and the traveling tray 31, and the negative pressure space between the cleaning tray 41 and the traveling tray 31 is the maximum, so that the contact state of the cleaning tray 41, the traveling tray 31 and the surface to be cleaned can be maintained when the negative pressure is small; when the cleaning mechanism 40 moves to the lowermost position, i.e., the position farthest from the main body 10, the cleaning mechanism 40 is positioned at H2 in fig. 5, and at this time, the minimum space is provided between the cleaning tray 41 and the traveling tray 31, the negative pressure space between the cleaning tray 41 and the traveling tray 31 is the minimum, and the contact state between the cleaning tray 41 and the traveling tray 31 and the surface to be cleaned can be maintained when the negative pressure is large.

It is contemplated that when the negative pressure inlet 100 is connected to a negative pressure suction device, the ability of the floating frame 50 to adjust the negative pressure of the body may be exceeded if the negative pressure provided by the negative pressure suction device is relatively large. In one embodiment, the cleaning device further has a pressure release mechanism 70, wherein the pressure release mechanism 70 is in communication with the first air passage 400, and is used for opening and releasing pressure when the negative pressure in the first air passage 400 is greater than a preset threshold value, and closing when the negative pressure in the first air passage 400 is not greater than the preset threshold value. Due to the presence of the pressure relief mechanism 70, the suction device can still function properly in environments of greater negative pressure.

Fig. 1B shows a case where the pressure release mechanism 70 is provided on the cover plate 13. In some embodiments, the pressure release mechanism 70 may be disposed at other locations of the main body 10, for example, at a side portion of the lower housing 11, on the floating frame 50, etc., so long as the pressure release mechanism 70 is in communication with the external atmosphere and the first air passage 400 of the cleaning mechanism 40.

As shown in fig. 3A, 6 and 7, the main body 10 includes a first cavity 101 communicating the negative pressure inlet 100 with the first air passage 400, and the pressure release mechanism 70 is provided on the main body 10 and communicates with the first cavity 101. When the cleaning device includes a plurality of cleaning mechanisms 40, the first cavity 101 may simultaneously communicate the negative pressure inlet 100 with each first air passage 400.

In one embodiment, the pressure relief mechanism 70 includes:

the casing 71 comprises a second cavity 700, a first opening 701 and a second opening 702 which are arranged at two ends of the second cavity 700, wherein the first opening 701 is communicated with the first air passage 400, and the second opening 702 is communicated with the outside atmosphere;

a switch 72 disposed within the second cavity 700;

the elastic member 73 is provided in the second cavity 700, has one end fixed to the housing 71, and has the other end applying an elastic force to the switch member 72 toward the second opening 702, and seals the switch member 72 in the second opening 702.

For example, the elastic member 73 may be a compression spring. In a natural state, the elastic member 73 elastically abuts the switch member 72 against the inner surface of the second opening 702. Illustratively, the housing 71 includes a main body portion 712 and a valve cover 711 sealingly covering the main body portion 712, the first opening 701 is provided on the main body portion 712, the second opening 702 is provided on the valve cover 711, and a rim is provided around the second opening 702 of the valve cover 711. The switch member 72 is T-shaped and includes a main body stem portion and a valve body portion connected to one end of the stem portion, and the elastic member 73 is sleeved on the stem portion of the switch member 72 and elastically abuts against the valve body portion. The outer surface of the valve body part can be an arc surface, the inner surface of the convex edge of the valve cover 711 can be designed into an arc shape, and when the valve body part is abutted to the second opening 702, the outer surface of the arc surface of the valve cover 711 is just attached to the surface of the convex edge of the valve cover 711, so that a good sealing effect is achieved, and the valve body part can be made of soft materials, such as rubber, so that the sealing effect of the valve body part can be ensured.

When the negative pressure in the main body 10 exceeds the limit value, the elastic member 73 is compressed, the valve cover 711 is out of contact with the housing 71, and gas can enter from the second opening 702, and when the negative pressure is reduced to be within the normal working negative pressure range of the cleaning device, the elastic member 73 re-abuts the valve cover 711 on the second opening 702, and the negative pressure in the cleaning device is not changed any more.

It will be appreciated that the suction device may be part of the cleaning device or may be a product separate from the cleaning device, such as a conventional vacuum cleaner, negative pressure fan, etc.

For example, fig. 1B shows a case where the suction device is independent from the outside of the cleaning device, and the suction device is connected to the main body 10 through the pipe 100a to provide negative pressure to the cleaning device; fig. 8 and 9 show a cleaning apparatus different from fig. 1B in which the suction apparatus 200 is installed as a part of the cleaning apparatus, for example, the suction apparatus 200 is installed in the main body 10 to communicate with the first cavity 101 of the main body 10, and the gas between the cleaning tray 41 and the traveling mechanism 30 is drawn by the suction apparatus 200 and discharged from the air outlet 121 on the upper case 12.

The above description of the preferred embodiments of the present invention should not be taken as limiting the scope of the invention, but rather should be understood to cover all modifications, variations and adaptations of the present invention using its general principles and the following detailed description and the accompanying drawings, or the direct/indirect application of the present invention to other relevant arts and technologies.

Claims (13)

1. A cleaning device, comprising:

a main body;

the power mechanism is arranged on the main body and used for driving the main body to move;

the cleaning mechanism is arranged on the main body or the power mechanism;

the cleaning mechanism is configured to oscillate relative to the main body and/or the cleaning mechanism is configured to displace relative to the main body.

2. The cleaning device of claim 1, further comprising a float mount, the float mount being mounted to the power mechanism or the main body; the floating frame is in clearance fit with the main body or is attached to the main body;

the cleaning mechanism is provided on the floating frame for swinging relative to the main body and/or the floating frame for displacing relative to the main body.

3. The cleaning device of claim 2, further comprising:

the travelling mechanism is arranged on the main body or the power mechanism, the power mechanism is used for driving the travelling mechanism to move on a surface to be cleaned, and the main body is used for driving the cleaning mechanism to move;

at least one of the cleaning mechanism and the travelling mechanism can displace relative to the main body.

4. A cleaning device according to claim 3 wherein the travelling mechanism comprises a travelling pan having a surface facing the surface to be cleaned, the travelling pan being coupled to the power mechanism, the floating frame being constrained between the travelling pan and the body.

5. The cleaning apparatus of claim 4, wherein the traveling tray comprises a tray portion and a boss protruding from the tray portion toward the main body, the tray portion having a radial dimension greater than a radial dimension of the boss, the boss being coupled to the power mechanism after passing through a center of rotation of the floating frame.

6. A cleaning device according to claim 3, wherein,

the power mechanism includes:

the walking mechanism is coupled with the output shaft and is coaxially arranged;

a universal joint including a first end and a second end, the first end of the universal joint coupled with the output shaft, the second end of the universal joint swingably disposed relative to the output shaft and coupled with the floating frame to transfer torque to the cleaning mechanism.

7. A cleaning device according to claim 3, wherein the cleaning mechanism comprises a cleaning disc provided at the periphery of the travelling mechanism; and a gap exists between the cleaning disc and the travelling mechanism, or the cleaning disc is attached to the travelling mechanism.

8. A cleaning device according to claim 3, wherein the travelling mechanism comprises a travelling tray with a tray surface facing the surface to be cleaned, the tray surface of the travelling tray being inclined with respect to the central axis of the main body.

9. A cleaning device according to claim 3, comprising two said travelling mechanisms, two said cleaning mechanisms and two said power mechanisms, one for each of said cleaning mechanisms and said travelling mechanisms.

10. A cleaning apparatus as claimed in claim 2, wherein,

the rotating center of the floating frame is provided with a through hole, and a plurality of convex parts are arranged on the circumference of the power mechanism at intervals;

the inner wall of the through hole is correspondingly provided with an elongated slot extending along the axial direction of the through hole, the power mechanism part is arranged in the through hole in a penetrating mode, and the convex part is slidably arranged in the corresponding elongated slot.

11. A cleaning apparatus as claimed in claim 2, wherein,

the floating frame and one of the main bodies are provided with annular protrusions on the surfaces facing each other, annular grooves are formed on the surfaces facing each other of the floating frame and the main body, and the annular protrusions are embedded in the annular grooves and are in clearance fit or fit with the annular grooves.

12. A cleaning apparatus as claimed in claim 2, wherein,

the cleaning mechanism comprises a first air passage facing the surface to be cleaned, the floating frame comprises a second air passage through which air can pass, the main body comprises a first cavity used for communicating with a negative pressure device, and the second air passage is communicated with the first cavity and the first air passage.

13. The cleaning apparatus defined in any one of claims 1-12, further comprising:

the pressure release mechanism is communicated with the cleaning mechanism and used for being opened to release pressure when the negative pressure between the cleaning mechanism and the surface to be cleaned is larger than a preset threshold value.

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