CN116919236A

CN116919236A - Movable cleaning device and driving method thereof

Info

Publication number: CN116919236A
Application number: CN202210357992.8A
Authority: CN
Inventors: 刘越
Original assignee: Beijing Hete Wisdom Technology Co ltd
Current assignee: Beijing Hete Wisdom Technology Co ltd
Priority date: 2022-04-06
Filing date: 2022-04-06
Publication date: 2023-10-24

Abstract

A movable cleaning device and a driving method thereof. The movable cleaning device comprises a body, a first supporting disc, a second supporting disc, a first driving shaft and a second driving shaft, wherein the first supporting disc is provided with a first central axis; the second support disc has a second central axis; the first driving shaft is fixedly connected with the first supporting disc, the first supporting disc is connected to the body and is configured to drive the first supporting disc to rotate, and the axis of the first driving shaft is parallel or coincident with the first central axis; the second driving shaft is fixedly connected with the second supporting disc, the second supporting disc is connected to the body and is configured to drive the first supporting disc to rotate, and the axis of the second driving shaft is parallel or coincident with the second central axis; the first support disc and the second support disc are symmetrically arranged relative to a plane between the first support disc and the second support disc, and the included angles between the first central axis and the plane and the second central axis are equal and are 0.4-1 degrees. The cleaning device can effectively control the rotating speed and the rotating direction of the double wheels, has a simple design structure and is easy to realize.

Description

Movable cleaning device and driving method thereof

Technical Field

At least one embodiment of the present disclosure relates to a movable cleaning apparatus and a driving method thereof.

Background

With the rapid development of modern technology, the intelligent home concept is gradually deepened, various intelligent home appliances are layered endlessly, and cleaning devices for cleaning home comprise window cleaning robots, sweeping robots and the like. The adsorption device commonly used in various cleaning devices is a vacuum adsorption mode, and the robot is attached to the surface to be cleaned under the action of pressure difference, so that the robot is used for cleaning the surface in the travelling process. In order to promote and improve the cleaning performance of various cleaning devices, a scheme capable of simultaneously considering the travelling speed and the cleaning effect of the cleaning device is designed, and the scheme becomes a continuous breakthrough research direction of a new generation of cleaning devices.

Disclosure of Invention

Embodiments of the present disclosure provide a movable cleaning device and a driving method thereof.

Embodiments of the present disclosure provide a movable cleaning device, comprising: a body; a first support plate having a first central axis; a second support plate having a second central axis; the first driving shaft is fixedly connected with the first supporting disc, and is used for connecting the first supporting disc to the body and is configured to drive the first supporting disc to rotate, and the axis of the first driving shaft is parallel or coincident with the first central axis; the second driving shaft is fixedly connected with the second supporting disc and is used for connecting the second supporting disc to the body and is configured to drive the first supporting disc to rotate, and the axis of the second driving shaft is parallel or coincident with the second central axis; the first support disc and the second support disc are symmetrically arranged relative to a plane between the first support disc and the second support disc, and the included angles between the first central axis and the second central axis and the plane are equal and are 0.4-1 degrees.

For example, in some embodiments of the present disclosure, the first central axis and the second central axis intersect the plane at a point on a side of the first support plate and the second support plate, respectively, that is adjacent to the body.

For example, in some embodiments of the present disclosure, the first central axis and the second central axis intersect the plane at a point on a side of the first support plate and the second support plate, respectively, remote from the body.

For example, in some embodiments of the present disclosure, a removable cleaning apparatus is provided wherein the first drive shaft includes a first connecting shaft and a first bushing portion, and the second drive shaft includes a second connecting shaft and a second bushing portion; the first connecting shaft is cylindrical and is fixedly connected with the body and the first supporting disc respectively; the first shaft sleeve part is cylindrical and comprises a first shaft hole, and is configured to enable the first connecting shaft to be inserted into the first shaft hole and fixedly connected with the first connecting shaft on the first supporting disc or the body; the second connecting shaft is cylindrical and is fixedly connected with the body and the second supporting disc respectively; the second sleeve part is cylindrical and comprises a second shaft hole, and is configured to enable the second connecting shaft to be inserted into the second shaft hole and fixed on the second supporting disc or the body together with the second connecting shaft.

For example, in some embodiments of the present disclosure provide for a removable cleaning device, the first drive shaft is of unitary construction; the second driving shaft is of an integrated structure.

For example, some embodiments of the present disclosure provide for a removable cleaning device further comprising: a first drive portion and a second drive portion disposed in the body, wherein: the first driving part is configured to drive the first driving shaft to drive the first supporting disc to rotate along the axis of the first driving shaft; the second driving part is configured to drive the second driving shaft to rotate the second supporting disc along the axis of the second driving shaft.

For example, some embodiments of the present disclosure provide for a removable cleaning device further comprising: and the included angle adjusting device is connected with the first driving shaft and the second driving shaft and is configured to adjust an included angle between the axis of the first driving shaft and the axis of the second driving shaft.

For example, some embodiments of the present disclosure provide for a removable cleaning device further comprising: first connecting portion and second connecting portion, wherein: the first connecting part is arranged in the body and fixedly connected with the first driving shaft, and the second connecting part is arranged in the body and fixedly connected with the second driving shaft; the included angle adjusting device comprises a first lifting part and a second lifting part, wherein the first lifting part is connected with one end of the first connecting part and is configured to drive the first supporting disc to rotate along a first axis, the second lifting part is connected with one end of the second connecting part and is configured to drive the second supporting disc to rotate along a second axis, and then the included angle between the axis of the first driving shaft and the axis of the second driving shaft is changed.

For example, in some embodiments of the present disclosure, the first lifting part includes a first hydraulic mechanism, and the first hydraulic mechanism is connected to one end of the first connection part; the second lifting part comprises a second hydraulic mechanism, and the second hydraulic mechanism is connected with one end of the second connecting part.

For example, in some embodiments of the present disclosure, the distance of the orthographic projection of the first end and the second end of the first support plate on the plane is 1mm-2.5mm.

For example, in some embodiments of the present disclosure, the side of the first support plate remote from the body and the side of the second support plate remote from the body are circular.

At least one embodiment of the present disclosure also provides a driving method of a movable cleaning apparatus, the movement mode of the movable cleaning apparatus including a linear movement mode, and/or a curved movement mode, the driving method including at least one of the following steps: controlling the first support disc and the second support disc to rotate in opposite directions at the same rotating speed so as to realize the movement of the movable cleaning device according to the linear movement mode; controlling one of the first support disc and the second support disc to rotate at a first rotation speed, and the other to rotate at a second rotation speed smaller than the first rotation speed or the second support disc to be stationary, so as to realize the movement of the movable cleaning device according to a curve movement mode; and controlling the movable cleaning device to switch between moving at least once according to the linear movement mode and/or at least once according to the curvilinear movement mode.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description relate only to some embodiments of the present disclosure, not to limit the present disclosure.

FIG. 1 is a front view of a removable cleaning device provided in an embodiment of the present disclosure;

FIG. 2 is a schematic view showing the internal structural connection of the movable cleaning apparatus of FIG. 1;

FIG. 3 is a front view of another removable cleaning device provided by an embodiment of the present disclosure;

FIG. 4 is a schematic view showing the internal structural connection of the movable cleaning apparatus of FIG. 3;

FIG. 5 is a schematic view of a first bushing portion in a movable cleaning device provided in an embodiment of the present disclosure;

FIG. 6 is a schematic structural view of a second hub portion in a movable cleaning apparatus provided in an embodiment of the present disclosure;

FIG. 7 is a schematic view of the internal structural connections of another removable cleaning device provided by an embodiment of the present disclosure;

FIG. 8 is a schematic view of the internal structural connections of yet another removable cleaning apparatus provided by an embodiment of the present disclosure;

FIG. 9 is a schematic view of a bottom structure of a movable cleaning apparatus provided by an embodiment of the present disclosure; and

Fig. 10 is a top view of a removable cleaning device provided by an embodiment of the present disclosure.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.

Unless defined otherwise, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

Along with the continuous progress of modern technology, various cleaning devices suitable for intelligent cleaning are endlessly layered. The travel schemes employed by cleaning devices on the market (e.g., window cleaners, sweeping robots, etc.) include wheeled, tracked, walking, peristaltic, etc. For bipedal robots, the movement mode is usually to take one of the feet as a fixed point (fixed wheel), and the other is sufficient for the fixed point to perform circular arc movement as a center, namely, the robot is used as a driving wheel to be matched with the fixed point. For example, in a combined mode of twisting and advancing of the double disks, one of the double disks rotates relative to the surface to be cleaned, thereby playing a wiping role, while the other disk is stationary relative to the surface to be cleaned, and the slow rotation of the double disks can drive the wiped disk to rotationally advance around the other disk until the next period, the relatively stationary disk and the wiped disk exchange roles, thereby twisting and advancing.

Therefore, the inventor of the present disclosure finds that the motion track of the combined mode of the twisting and advancing of the double-disc is a combination of a plurality of circular arc motions, and in order to ensure the twisting and advancing of the cleaning device in the operation process, the roles of the fixed wheels and the movable wheels of the bipedal robot need to be continuously switched and controlled, the control logic is complex, and the advancing efficiency is low, so that the cleaning performance is poor.

Embodiments of the present disclosure provide a movable cleaning device and a driving method thereof. The movable cleaning device comprises a body, a first supporting disc, a second supporting disc, a first driving shaft and a second driving shaft, wherein the first supporting disc is provided with a first central axis; the second support disc has a second central axis; the first driving shaft is fixedly connected with the first supporting disc, the first supporting disc is connected to the body and is configured to drive the first supporting disc to rotate, and the axis of the first driving shaft is parallel or coincident with the first central axis; the second driving shaft is fixedly connected with the second supporting disc, the second supporting disc is connected to the body and is configured to drive the first supporting disc to rotate, and the axis of the second driving shaft is parallel or coincident with the second central axis; the first support disc and the second support disc are symmetrically arranged relative to a plane between the first support disc and the second support disc, and the included angles between the first central axis and the plane and the second central axis are equal and are 0.4-1 degrees.

The movable cleaning device provided by the embodiment of the disclosure changes the contact mode with the surface to be cleaned, and the double wheels are arranged at a proper assembly angle through the driving shaft which is fixedly connected, so that the rotating speed and the direction of the double wheels can be simultaneously and effectively controlled under the action of the driving part, the contact resistance of the cleaning device in the advancing process can be overcome, the design structure is simple, and the cleaning device is easy to realize.

The movable cleaning device and the driving method thereof are described below by way of some embodiments.

FIG. 1 is a front view of a removable cleaning device provided in an embodiment of the present disclosure; fig. 2 is a schematic view showing the connection of the internal structure of the movable cleaning apparatus in fig. 1.

Referring to fig. 1 and 2, the movable cleaning apparatus 1 includes a body 100, a first support plate 110, a second support plate 120, a first drive shaft 113, and a second drive shaft 123, wherein the first support plate 110 has a first central axis 111; the second support plate 120 has a second central axis 121; the first driving shaft 113 is fixedly connected with the first supporting disc 110, and connects the first supporting disc 110 to the body 100, and is configured to drive the first supporting disc 110 to rotate, and an axis 1130 of the first driving shaft 113 is parallel or coincident with the first central axis 111; the second driving shaft 123 is fixedly connected with the second supporting disc 120, and connects the second supporting disc 120 to the body 100, and is configured to drive the second supporting disc 120 to rotate, and an axis 1230 of the second driving shaft 123 is parallel or coincident with the second central axis 121; the first support plate 110 and the second support plate 120 are symmetrically arranged with respect to a plane 105 therebetween, and the first central axis 111 and the second central axis 121 have an angle α equal to the plane 105 and are each 0.4 ° to 1 °.

Referring to fig. 1 and 2, the first support plate 110 and the second support plate 120 are indirectly connected to the movable cleaning apparatus 1, i.e., the first driving shaft 113 connects the first support plate 110 to the body 100, the second driving shaft 123 connects the second support plate 120 to the body 100, and the first driving shaft 113 may drive the first support plate 110 to rotate and the second driving shaft 123 may drive the second support plate 120 to rotate. For example, the first and second driving shafts 113 and 123 may be connected to motors, respectively, and drive the first and second support plates 110 and 120 to rotate, respectively, under the control of the motors.

For example, the axis 1130 of the first drive shaft 113 may coincide with the first central axis 111; alternatively, in some embodiments, the axis 1130 may not be absolutely coincident with the first central axis 111, so long as the two are guaranteed to be parallel, and the first support plate 110 may be driven to rotate by the first driving shaft 113. Similarly, the axis 1230 of the second driving shaft 123 may be parallel to or coincident with the second central axis 121, which is not described herein.

Referring to fig. 1 and 2, the first support plate 110 and the second support plate 120 are symmetrically disposed with respect to the plane 105, and the first support plate 110 and the second support plate 120 are synchronously rotated under the driving action, thereby driving the cleaning device 1 to travel.

As shown in fig. 2, the first driving shaft 113 is fixedly connected with the first supporting plate 110, and the second driving shaft 123 is fixedly connected with the second supporting plate 120. Since the first drive shaft 113 and the second drive shaft 123 are disposed symmetrically with respect to the plane 105, the configuration and mounting of the first drive shaft 113 will be described below.

For example, the first driving shaft 113 is coaxially disposed with the first supporting plate 110, and the first driving shaft 113 may be fixed to the first supporting plate 110 by a fastener from the central end 1131, so that no relative movement occurs between the first driving shaft 113 and the first supporting plate 110, and the first supporting plate 110 may be directly driven to rotate by the first driving shaft 113 after the fixing.

For example, the fastener may comprise a screw, or any element that may effect the securement of the first drive shaft 113 from the central end 1131 to the first support disk 110, as embodiments of the present disclosure are not limited in this regard. For example, the fixing region 160 may be disposed at the center of the first support plate 110 such that the fastener may be hidden in the fixing region 160 after being driven from the N1 direction, thereby preventing the first support plate from exposing the fastener to secure the aesthetic appearance.

Therefore, by fixedly connecting the first driving shaft 113 with the first supporting plate 110, there is no relative movement between the two, so that the connection structure is simplified, the design and manufacturing costs are reduced, and the first driving shaft 113 can directly drive the first supporting plate 110 to rotate easily.

Referring to fig. 1 and 2, the movable cleaning apparatus 1 is in contact with a surface 001 through the first and second support plates 110 and 120, for example, the surface 001 is a surface to be cleaned, and the first and second support plates 110 and 120 are disposed at an angle α with respect to the surface 001, respectively. For example, opposite ends of the first support plate 110 and the second support plate 120 are each in non-contact with the face 001, and ends of the first support plate 110 and the second support plate 120 distant from each other are each in contact with the face 001; or vice versa, the opposite ends of the first support plate 110 and the second support plate 120 are each in contact with the face 001, while the ends of the first support plate 110 and the second support plate 120 that are remote from each other are each out of contact with the face 001. Thus, the first central axis 111 of the first support plate 110 and the second central axis 121 of the second support plate 120 are inclined at an angle λ with respect to the plane 001, and the angle λ is complementary to the angle α. For example, in some embodiments of the present disclosure, the first support plate 110 and the second support plate 120 may also be disposed at different angles with respect to the surface 001 to be cleaned, and may be specifically designed according to practical application requirements, which is not limited in this disclosure.

For example, in the practice of the present disclosure, the tilt angles between the first and second central axes 111, 121 and the plane 105 are each α, and the tilt angles between the first and second central axes 111, 121 and the plane 001 are each λ. For example, the inclination angle α may have a value ranging from 0.4 ° to 1 ° (for example, α is 0.8 °), and within this value range, the movable cleaning device 1 may be enabled to maintain a synchronous and stable traveling state by the first support plate 110 and the second support plate 120, and also to achieve a good cleaning effect on the surface 001 in the traveling state of the movable cleaning device 1, and therefore, the inclination angle α may have a superior cleaning performance in the value ranging from 0.4 ° to 1 °. For example, the inclination angle α may be in the range of 0.6 ° to 0.8 °, or the inclination angle α may be in the range of 0.5 ° to 0.9 °, depending on practical application requirements, which is not limited in the embodiments of the present disclosure.

For example, the first central axis 111 of the first support plate 110 and the second central axis 121 of the second support plate 120 may be inclined at an angle α with respect to the face 105, such that the first support plate 110 and the second support plate 120 may be designed in a variety of arrangements with respect to the face 001.

As shown in fig. 2, the movable cleaning apparatus 1 further includes a first driving portion 119 and a second driving portion 129, where the first driving portion 119 and the second driving portion 129 are disposed in the body 100, and the first driving portion 119 is configured to drive the first driving shaft 113 to rotate the first supporting plate 110 along the first central axis 111 of the first driving shaft 113; the second driving part 129 is configured to drive the second driving shaft 123 to rotate the second support plate 120 along the second central axis 121 of the second driving shaft 123.

For example, the first driving part 119 and the second driving part 129 include a gear transmission mechanism, the first driving part 119 is connected with the first driving shaft 113 through the gear transmission mechanism, the second driving part 129 is connected with the second driving shaft 123 through the gear transmission mechanism, and the first driving part 119 can drive the first driving shaft 113 to rotate under the driving of the motor, and the second driving part 129 can drive the second driving shaft 123 to rotate.

For example, the driving actions of the first driving unit 119 and the second driving unit 129 may be synchronized or unsynchronized. For example, the magnitude and direction of the driving force of the first driving portion 119 may be different from those of the first driving portion 129, so that control of different traveling states of the cleaning device 1 may be achieved, enabling a plurality of traveling states such as forward, backward, or turning.

For example, the structural types and arrangement positions of the first driving part 119 and the second driving shaft 129 may be determined according to actual design requirements, to which embodiments of the present disclosure are not limited.

By providing the first driving portion 119 and the second driving portion 129, rotational driving of the first driving shaft 113 and the second driving shaft 123 can be achieved, and further effective control of the traveling state of the cleaning device 1 can be achieved.

As shown in fig. 2, the movable cleaning apparatus 1 further comprises an included angle adjusting device 140 connected to the first drive shaft 113 and the second drive shaft 123, configured to adjust an included angle γ between an axis 1130 of the first drive shaft 113 and an axis 1230 of the second drive shaft 123.

For example, the angle adjusting device 140 may be provided in the body 100, and may be directly connected or indirectly connected with the first and second driving shafts 113 and 123. For example, the included angle adjusting device 140 may be connected to a motor to adjust, thereby changing the setting positions of the first driving shaft 113 and the second driving shaft 123 relative to the body 100, so that the included angle γ between the axis 1130 of the first driving shaft 113 and the axis 1230 of the second driving shaft 123 is adjusted, thereby changing the angle of the first supporting plate 110 connected to the first driving shaft 113 relative to the plane 001 and the angle of the second supporting plate 120 connected to the second driving shaft 213 relative to the plane 001 (in this embodiment, the angles are the same α).

By providing the included angle adjusting device 140, the angle of the first supporting plate 110 connected with the first driving shaft 113 relative to the surface 001 or the angle of the second supporting plate 120 connected with the second driving shaft 123 relative to the surface 001 can be adjusted, so that different cleaning requirements and travelling control requirements can be easily met. For example, when the cleaning requirement of the surface 001 is strong, α can be properly adjusted to be smaller by the angle adjusting device 140, so that the first support plate 110 and the second support plate 120 can be fully contacted with the surface 001, and the contact pressure is enhanced, so that the cleaning force is enhanced. For example, when the cleaning requirement of the cleaning device 1 is low and the travelling requirement is strong, α can be appropriately adjusted by the angle adjusting device 140, so that the contact force between the first support plate 110 and the second support plate 120 and the surface 001 can be simplified, and the first support plate 110 and the second support plate 120 can travel more easily under the action of the first driving portion 119 and the second driving portion 129.

As shown in fig. 2, the movable cleaning apparatus 1 further includes a first connection portion 141 and a second connection portion 142, wherein the first connection portion 141 is disposed in the body 100 and fixedly connected with the first driving shaft 113, and the second connection portion 142 is also disposed in the body 100 and fixedly connected with the second driving shaft 123; the included angle adjusting device 140 includes a first lifting portion 143 and a second lifting portion 144, the first lifting portion 143 is connected to one end 145 of the first connecting portion 141 and configured to drive the first supporting plate 110 to rotate along a first axis H ₁ The second lifting portion 144 is rotatably connected to one end 146 of the second connecting portion 142 and configured to drive the second supporting plate 120 to rotate about the second axis H ₂ Rotation, in turn, changes the angle γ between the axis 1130 of the first drive shaft 113 and the axis 1230 of the second drive shaft 123.

For example, as shown in fig. 2, the first connection portion 141 is provided in the body and fixedly connected with the first driving shaft 113 without relative movement with the first driving shaft 113. The first connection part 141 may also have a disk shape and be disposed opposite and parallel to the first support plate 110. For example, the first connection portion 141 may provide support and reinforcement for the first drive shaft 113 in the body 100.

Similarly, the second connection portion 142 may have the same shape as the first connection portion 141 and be disposed opposite and parallel to the second support plate 120. The present disclosure is not limited to the shape of the first and second connection parts 141 and 142. By providing the first and second connection parts 141 and 142, the connection of the first and second driving shafts 113 and 123 in the body 100 can be supported and reinforced, and thus good connection strength can be ensured.

For example, the first lifting part 143 may be connected with the first connecting part 141, and the relative position of the first driving shaft 113 and the body 100 may be changed by adjusting the relative position of the first connecting part 141 in the body 100.

For example, contact points at which the ends of the first support plate 110 and the second support plate 120 distant from each other are in contact with the face 001 are a contact point P and a contact point Q, respectively; first axis H ₁ To pass the point of contact P and be parallel to the axis of the plane 105, a second axis H ₂ Is an axis passing through the contact point Q and parallel to the plane 105. For example, the first lifting portion 143 can drive the first supporting plate 110 to have a first axis H ₁ Rotation, and thus change the angle α between the first support plate 110 and the face 001; the second lifting portion 144 can drive the second supporting plate 120 to move along the second axis H ₂ The rotation, and thus the angle alpha between the second support plate 120 and the face 001. That is, the included angle γ between the axis 1130 of the first driving shaft 113 and the axis 1230 of the second driving shaft 123 can be changed by the first lifting portion 143 and the second lifting portion 144.

For example, as shown in fig. 4, when the end of the first support plate 210 and the second support plate 220, which are close to each other, are in contact with the surface 001, the contact point of the first support plate 210 and the surface 001 is a contact point E, and the contact point of the second support plate 220 and the surface 001 is a contact point R; first axis H ₃ To pass the contact point E and be parallel to the axis of the plane 105, a second axis H ₄ Is an axis passing through the contact point R and parallel to the plane 105.

For example, referring to fig. 2 and 4, the first lifting portion 143 and the second lifting portion 144 may apply the force at the same time, or may be individually controlled according to the operation requirement.

Thus, by providing the first lifting portion 143 and the second lifting portion 144, the control for the first drive shaft 113 and the second drive shaft 123 can be further made more sensitive, and the practical requirements can be easily adapted, so that the control of the cleaning device 1 is more intelligent.

For example, as shown in fig. 2, the first lifting part 143 includes a first hydraulic mechanism 147, and the first hydraulic mechanism 147 is connected to one end 145 of the first connecting part 141; the second lifting part 144 includes a second hydraulic mechanism 148, and the second hydraulic mechanism 148 is connected to one end 146 of the second connecting part 142.

For example, as shown in fig. 2, the first hydraulic mechanism 147 and the second hydraulic mechanism 148 are respectively connected to the motors, and are respectively controlled in accordance with control signals from the motors. For example, the first hydraulic mechanism 147 may act on one end 145 of the first connection 141 and move the first connection 141 relative to the body 100 by hydraulic lifting. For example, the first connection portion 141 may be rotated or tilted with respect to the body 100 by the first hydraulic mechanism 147, thereby changing the angle α between the first support plate 110 and the face 001. The second hydraulic mechanism 148 has the same principle as the first hydraulic mechanism 147, and is not described here.

By adopting the first hydraulic mechanism 147 and the second hydraulic mechanism 148 to perform position adjustment for the first connecting portion 141 and the second connecting portion 142, the adjustment operation can be made simple and quick, and easy to realize.

As shown in fig. 2, the distance M1 of the orthographic projection of the first end 151 and the second end 152 of the first support plate 110 on the plane 105 in the movable cleaning device 1 is 1mm to 2.5mm. The third end 154 and the fourth end 153 of the second support plate 120 are also at a distance M1 from the orthographic projection of the plane 105.

For example, M1 is the distance that the first end 151 and the second end 152 of the first support plate 110 are orthographically projected on the plane 105, which distance may reflect the degree of inclination of the first support plate 110 relative to the body 100, and thus reflect the travel characteristics of the cleaning device 1. By setting M1 to 1mm to 2.5mm (e.g., M1 to 2 mm), the movable cleaning apparatus 1 can be made to maintain a stable traveling state, and a good cleaning effect on the surface 001 can be achieved in the traveling state of the movable cleaning apparatus 1.

FIG. 3 is a front view of another removable cleaning device provided by an embodiment of the present disclosure; fig. 4 is a schematic view showing the connection of the internal structure of the movable cleaning apparatus in fig. 3.

Referring to fig. 1, 2, 3 and 4, the movable cleaning apparatus 2 is different from the movable cleaning apparatus 1 in the arrangement of the first support plate 210 and the second support plate 220 with respect to the body 100, and the remaining structures are the same.

Referring to fig. 1 and 2, in the movable cleaning apparatus 1, the first central axis 111 and the second central axis 121 intersect the plane 105 at a point a on the sides of the first support plate 110 and the second support plate 120, respectively, which are away from the body 100. As shown in FIG. 2, L ₁ Is the reverse extension line of the first central axis 111 along the N1 direction, L ₂ Is the reverse extension line of the second central axis 121 along the N2 direction, and L ₁ And L ₂ Intersecting at point a on plane 105. That is, the first end 152 of the first support plate 110 near the plane 105 and the third end 154 of the second support plate 120 serve as non-contact ends with the face 001, respectively, and the second end 151 of the first support plate 110 away from the plane 105 and the fourth end 153 of the second support plate 120 serve as contact ends with the face 001, respectively.

Thereby, the movable cleaning apparatus 1 is designed in an outside contact type, and smooth traveling of the movable cleaning apparatus 1 is achieved by the rotation of the first support plate 110 and the second support plate 120 under the driving action.

Referring to fig. 3, 4, the movable cleaning apparatus 2 includes a first support plate 210, a second support plate 220, a first drive shaft 213, and a second drive shaft 223, wherein the first support plate 210 has a first central axis 211; the second support plate 220 has a second central axis 212; the first driving shaft 213 connects the first support plate 210 to the body 100 and is configured to drive the first support plate 210 to rotate, an axis 2130 of the first driving shaft 213 being parallel or coincident with the first central axis 211; a second drive shaft 223 connects the second support disk 220 to the body 100 and is configured to drive the second support disk 220 in rotation, an axis 2230 of the second drive shaft 223 being parallel or coincident with the second central axis 212; the first support plate 210 and the second support plate 220 are symmetrically disposed with respect to a plane 105 therebetween.

The first central axis 211 and the second central axis 212 intersect the plane 105 at a point B on a side of the first support plate 210 and the second support plate 220, respectively, that is closer to the body 100. As shown in FIG. 4, L ₃ Is an extension line of the first central axis 211 along the direction N3, L ₄ Is an extension of the second central axis 212 in the direction N4Line, and L ₃ And L ₄ Intersecting at point B on plane 105. That is, the first end 252 of the first support plate 210 near the plane 105 and the third end 253 of the second support plate 220 serve as contact ends with the plane 001, respectively, and the second end 251 of the first support plate 210 away from the plane 105 and the fourth end 254 of the second support plate 220 away from the plane 105 serve as non-contact ends with the plane 001, respectively.

Thereby, the movable cleaning apparatus 1 is designed in an inside contact type, and smooth traveling of the movable cleaning apparatus 1 is achieved by the rotation of the first support plate 210 and the second support plate 220 under the driving action.

FIG. 5 is a schematic view of a first bushing portion in a movable cleaning device provided in an embodiment of the present disclosure; fig. 6 is a schematic structural view of a second sleeve part in the movable cleaning apparatus according to the embodiment of the present disclosure.

Referring to fig. 2, 4, 5 and 6, the first driving shaft 113 in the movable cleaning apparatus 1 includes a first connection shaft 114 and a first shaft sleeve portion 115, and the second driving shaft 123 includes a second connection shaft 124 and a second shaft sleeve portion 125. Similarly, the first drive shaft 213 includes a first connecting shaft 214 and a first bushing portion 215, and the second drive shaft 223 includes a second connecting shaft 224 and a second bushing portion 225.

Referring to fig. 2, 5 and 6, the first connection shaft 114 is cylindrical and fixedly connected with the body 100 and the first support plate 110, respectively; the first shaft sleeve portion 115 is cylindrical and includes a first shaft hole 116, and is configured such that the first connection shaft 114 is inserted into the first shaft hole 116 and fixedly connected to the first support plate 110 or the body 100 together with the first connection shaft 114; the second connecting shaft 124 is also cylindrical and fixedly connected with the body 100 and the second supporting plate 120, respectively; the second sleeve portion 125 is also cylindrical and includes a second shaft hole 126, and is configured such that the second connection shaft 124 is inserted into the second shaft hole 126 and fixed to the second support plate 120 or the body 100 together with the second connection shaft 125. The first drive shaft 113 and the second drive shaft 123 are disposed symmetrically with respect to the plane 105, and the configuration and mounting of the first drive shaft 113 will be described below.

Referring to fig. 2, 5 and 6, the first connection shaft 114 may be inserted into the first shaft hole 116, and one end 117 of the first boss 115 may be fixed to the first support plate 110 by a fastener simultaneously with the first connection shaft 114. Further, after the first shaft sleeve portion 115 is fixed to the first connecting shaft 114 and the first supporting plate 110, there is no relative movement between the three. For example, after the first connecting shaft 114 is inserted into the first shaft hole 116, a fastener may be driven from the N1 direction to achieve fixation. For example, the fasteners may include screws, or any element that may effect the securement of the first connection shaft 114, the first shaft bore 116, and the first support disk 110; the fastener may be provided in at least one, and embodiments of the present disclosure are not limited in the kind and number of fasteners.

In some embodiments of the present disclosure, after the first connecting shaft 114 is inserted into the first shaft hole 116, the first connecting shaft 114 may be fixed to the body from the other end 118 of the first shaft sleeve portion 115 by a fastener. For example, in the N1 direction, the height of the first connecting shaft 114 is greater than the height of the first boss 115. Of course, the first collar 115 can also be provided in 2, i.e. simultaneously with the fixing of the first connecting shaft 114 to the body 100 and to the first support plate 110, respectively. For example, the first connecting shaft 114 and the first boss 115 may be cylindrical, rectangular parallelepiped, or the like; the materials of the first connection shaft 114 and the first shaft sleeve portion 115 may be the same or different, and the shape and material of the first connection shaft 114 and the first shaft sleeve portion 115 are not limited in the embodiments of the present disclosure.

By providing the first shaft sleeve portion 115 outside the first connection shaft 114 and the second shaft sleeve portion 125 outside the second connection shaft 124, the connection of the first connection shaft 114 with the body 100 or the first support plate 110 and the connection of the second connection shaft 124 with the body 100 or the second support plate 120 can be reinforced and fixed, so that the strength of each connection is optimized, which is advantageous for better ensuring the traveling performance of the movable cleaning device 1.

FIG. 7 is a schematic view of the internal structural connections of another removable cleaning device provided by an embodiment of the present disclosure; fig. 8 is a schematic view illustrating an internal structure of a further movable cleaning apparatus according to an embodiment of the present disclosure. Fig. 7 differs from fig. 2 only in that the first sleeve portion 115 and the second sleeve portion 125 have been removed; fig. 8 differs from fig. 4 only in that the first sleeve portion 215 and the second sleeve portion 225 are omitted, and the other structures are identical.

Referring to fig. 7 and 8, in some embodiments of the present disclosure, the first drive shaft 113 or the first drive shaft 213 is a unitary structure, and the second drive shaft 214 or the second drive shaft 224 is a unitary structure.

For example, the first driving shaft 113 may include only the first connecting shaft 114, and the second driving shaft 123 may include only the second connecting shaft 124. The first connection shaft 114 is fixedly connected with the body 100 and the first support plate 110, respectively, the second connection shaft 124 is fixedly connected with the body 100 and the second support plate 120, respectively, and the first connection shaft 114 and the second connection shaft 124 can ensure connection strength. Similarly, the first driving shaft 213 may include only the first connecting shaft 214, and the second driving shaft 223 may include only the second connecting shaft 224. Therefore, the structural form of the first driving shaft 113, the first driving shaft 213, the second driving shaft 213, and the second driving shaft 223 can be simplified by adopting an integrated structural design, the processing and the manufacturing are easy, and the cost can be reduced.

Fig. 9 is a schematic bottom structural view of a movable cleaning device provided in an embodiment of the present disclosure.

As shown in fig. 9, a side 1101 of the first support plate 110 away from the body 100 and a side 1201 of the second support plate 120 away from the body 100 are circular. Of course, in some embodiments of the present disclosure, the side 1101 of the first support plate 110 away from the body 100 and the side 1201 of the second support plate 120 away from the body 100 may also have other shapes, such as polygonal or elliptical, etc., as embodiments of the present disclosure are not limited thereto. The use of a circular shape allows for a more flexible rotational control of the first support plate 110 and the second support plate 120, and in the course of rotation the contact with the contact surface is not constrained by the shape of the respective support plate, and the risk of interference of the first support plate 110 and the second support plate 120 during use can be reduced, thus ensuring a good performance of the movable cleaning device 1.

For example, the movable cleaning apparatus 1 further includes a first cleaning member detachably connected to the side 1101 of the first support plate 110 remote from the body, and a second cleaning member (not shown) detachably connected to the side 1201 of the second support plate 120 remote from the body 100.

For example, the first cleaning member may be adhered or clamped to the side 1101 of the first support plate 110 away from the body, and the second cleaning member may be adhered or clamped to the side 1201 of the second support plate 120 away from the body, and the mounting manner of the first cleaning member and the second cleaning member is not limited in the embodiments of the present disclosure. By providing the first cleaning member and the second cleaning member, it is possible to realize the cleaning device 1 that performs the cleaning function while traveling.

For example, the first cleaning member may include at least one of a cleaning brush and a cleaning cloth, and the second cleaning member may also include at least one of a cleaning brush and a cleaning cloth, and the embodiments of the present disclosure are not limited in the types of the first cleaning member and the second cleaning member.

Embodiments of the present disclosure also provide a driving method of a movable cleaning device. Referring to fig. 2, 9 and 10, the movement pattern of the movable cleaning apparatus 1 includes a linear movement pattern, and/or a curved movement pattern, and the driving method includes at least one of the following steps:

the first support plate 110 and the second support plate 120 are controlled to rotate in opposite directions at the same rotation speed to realize the movement of the movable cleaning apparatus 1 in a linear movement mode;

One of the first support plate 110 and the second support plate 120 is controlled to rotate at a first rotation speed, the other one is controlled to rotate at a second rotation speed smaller than the first rotation speed, or the second support plate 120 is not moved, so that the movable cleaning device 1 moves according to a curved movement mode; and

the movable cleaning device 1 is controlled to switch between moving at least once in a linear movement pattern and/or at least once in a curvilinear movement pattern.

Referring to fig. 2, 9 and 10, when the movable cleaning apparatus 1 moves in the linear motion mode, it may include moving in the first direction Z or in the second direction Y, which are opposite to each other.

For example, when moving in the linear motion mode according to the first direction Z, the driving method includes driving the first support plate 110 to rotate in a counterclockwise direction (i.e., the h1 direction), driving the second support plate 120 to rotate in a clockwise direction (i.e., the h2 direction), and rotating speeds of the first support plate 110 and the second support plate 120 are the same;

for example, when moving in the linear motion mode according to the second direction Y, the driving method includes driving the first support plate 110 to rotate in a clockwise direction (i.e., the opposite direction of h 1), driving the second support plate 120 to rotate in a counterclockwise direction (i.e., the opposite direction of h 2), and the rotational speeds of the first support plate 110 and the second support plate 120 are the same;

For example, when moving in a curved movement pattern, the driving method includes driving the first support plate 110 to rotate at a first rotation speed in one of the counterclockwise direction and the clockwise direction, driving the second support plate 120 to rotate at a second rotation speed smaller than the first rotation speed in the other of the counterclockwise direction and the clockwise direction, or not rotating the second support plate 120, so that the movable cleaning apparatus 1 as a whole rotates.

That is, when the rotation speeds of the first support plate 110 and the second support plate 120 are the same and the directions of rotation are opposite, the cleaning device 1 makes a linear motion. For example, the speed of travel of the cleaning device 1 can be controlled by controlling the speed of rotation.

For example, when the first support plate 110 and the second support plate 120 are opposite in rotation direction and different in rotation speed, the cleaning device 1 makes a turning motion, and the support plate of a high rotation speed rotates around the support plate of a low rotation speed.

Based on the driving method of the movable cleaning device, the cleaning device 1 can be controlled in real time and intelligently while being cleaned, and the operation is simple and convenient and the implementation is easy.

For example, in some embodiments of the present disclosure, the cleaning device 1 may be a robot for horizontal surface cleaning, such as a floor sweeping robot, a floor wiping robot, or a floor sweeping and mopping robot, the surface to be cleaned may be a floor, or the like, and various types of cleaning robots may include, for example, a device that adsorbs foreign materials. Referring to fig. 2 and 4, the cleaning device 1 may be disposed in contact with the outside or the inside of the face 001, respectively, and both may be disposed in a point contact manner. As can be seen from the structural form and the driving manner of the cleaning device 1 according to the above embodiment, the contact manner between the cleaning device 1 and the surface 001 is not changed by the device for adsorbing the sundries, and the cleaning device 1 is driven by the motor, and the first driving shaft 113 drives the first supporting plate 110 to rotate and the second driving shaft 123 drives the second supporting plate 120 to rotate, so as to drive the cleaning device 1 to move.

For example, in some embodiments of the present disclosure, the cleaning device 1 may also be a robot for non-horizontal cleaning, such as a window cleaning robot, and the surface to be cleaned may be a wall surface or a window. For example, the window may be a framed window or a frameless window. For example, the framed window may be a household window, the frameless window may be a large landing window, or the like. For this type of cleaning device, a negative pressure mechanism for ensuring self-adsorption on the surface to be cleaned may be included. In some embodiments, referring to fig. 2 and 4, the negative pressure mechanism may cause the first support plate 110 and the second support plate 120 to deform while applying an adsorption force to the cleaning device, thereby causing the contact manner of the first support plate 110 and the second support plate 120 with the surface 001 to be changed from point contact to surface contact. In this case, as can be seen from the structural form of the cleaning apparatus 1, the first driving shaft 113 or the second driving shaft 123, which is disposed obliquely, makes the inner side or the outer side of the first supporting plate 110 or the second supporting plate 120 pressurized differently, resulting in different friction forces, and thus, the first supporting plate 110 and the second supporting plate 120 may drive the cleaning apparatus 1 to travel by rotating under the driving of the motor.

For example, in some embodiments of the present disclosure, when the self weight or water weight of the cleaning device 1 for horizontal surface cleaning is high, the first support plate 110 and the second support plate 120 in the cleaning device 1 may also be deformed, thereby changing the contact pressure with the surface to be cleaned. At this time, the travel driving principle of the cleaning device 1 is the same as that of the robot for non-horizontal surface cleaning described above, and a detailed description thereof will be omitted.

The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A removable cleaning device comprising:

a body;

a first support plate having a first central axis;

a second support plate having a second central axis;

the first driving shaft is fixedly connected with the first supporting disc, and is used for connecting the first supporting disc to the body and is configured to drive the first supporting disc to rotate, and the axis of the first driving shaft is parallel or coincident with the first central axis;

the second driving shaft is fixedly connected with the second supporting disc and is used for connecting the second supporting disc to the body and is configured to drive the first supporting disc to rotate, and the axis of the second driving shaft is parallel or coincident with the second central axis;

the first support disc and the second support disc are symmetrically arranged relative to a plane between the first support disc and the second support disc, and the included angles between the first central axis and the second central axis and the plane are equal and are 0.4-1 degrees.

2. The removable cleaning apparatus of claim 1, wherein,

the first central axis and the second central axis intersect the plane at a point on a side of the first support plate and the second support plate, respectively, which is close to the body.

3. The removable cleaning apparatus of claim 1, wherein,

the first central axis and the second central axis intersect the plane at a point on a side of the first support plate and the second support plate, respectively, which is away from the body.

4. The removable cleaning apparatus of claim 1, wherein the first drive shaft comprises a first connecting shaft and a first bushing portion, and the second drive shaft comprises a second connecting shaft and a second bushing portion;

the first connecting shaft is cylindrical and is fixedly connected with the body and the first supporting disc respectively; the first shaft sleeve part is cylindrical and comprises a first shaft hole, and is configured to enable the first connecting shaft to be inserted into the first shaft hole and fixedly connected with the first connecting shaft on the first supporting disc or the body;

the second connecting shaft is cylindrical and is fixedly connected with the body and the second supporting disc respectively; the second sleeve part is cylindrical and comprises a second shaft hole, and is configured to enable the second connecting shaft to be inserted into the second shaft hole and fixed on the second supporting disc or the body together with the second connecting shaft.

5. The removable cleaning apparatus of claim 1, wherein,

the first driving shaft is of an integrated structure;

the second driving shaft is of an integrated structure.

6. The removable cleaning apparatus of claim 1, further comprising: a first drive portion and a second drive portion disposed in the body, wherein:

the first driving part is configured to drive the first driving shaft to drive the first supporting disc to rotate along the axis of the first driving shaft;

the second driving part is configured to drive the second driving shaft to rotate the second supporting disc along the axis of the second driving shaft.

7. The removable cleaning apparatus of claim 1, further comprising: and the included angle adjusting device is connected with the first driving shaft and the second driving shaft and is configured to adjust an included angle between the axis of the first driving shaft and the axis of the second driving shaft.

8. The removable cleaning apparatus of claim 7, further comprising a first connection and a second connection, wherein:

the first connecting part is arranged in the body and fixedly connected with the first driving shaft;

the second connecting part is arranged in the body and fixedly connected with the second driving shaft;

The included angle adjusting device comprises a first lifting part and a second lifting part, wherein the first lifting part is connected with one end of the first connecting part and is configured to drive the first supporting disc to rotate along a first axis, the second lifting part is connected with one end of the second connecting part and is configured to drive the second supporting disc to rotate along a second axis, and then the included angle between the axis of the first driving shaft and the axis of the second driving shaft is changed.

9. The removable cleaning apparatus of claim 8, wherein,

the first lifting part comprises a first hydraulic mechanism, and the first hydraulic mechanism is connected with one end of the first connecting part;

the second lifting part comprises a second hydraulic mechanism, and the second hydraulic mechanism is connected with one end of the second connecting part.

10. The removable cleaning apparatus of claim 1, wherein the first end and the second end of the first support disk are projected in the plane a distance of 1mm to 2.5mm.

11. The movable cleaning apparatus of claim 1 wherein a side of said first support disk remote from said body and a side of said second support disk remote from said body are circular.

12. A driving method of the movable cleaning apparatus according to claim 1, the movement pattern of the movable cleaning apparatus including a linear movement pattern, and/or a curved movement pattern, the driving method comprising at least one of the following steps:

controlling the first support disc and the second support disc to rotate in opposite directions at the same rotating speed so as to realize the movement of the movable cleaning device according to the linear movement mode;

controlling one of the first support disc and the second support disc to rotate at a first rotating speed, and the other to rotate at a second rotating speed smaller than the first rotating speed or the second support disc to be stationary, so as to realize the movement of the movable cleaning device according to the curve movement mode; and

controlling the movable cleaning device to switch between moving at least once according to the linear motion mode and/or at least once according to the curvilinear motion mode.