Traveling mechanism, surface cleaning device and traveling method of surface cleaning device

Abstract

The walking mechanism, surface cleaning device, and walking method for a surface cleaning device provided by embodiments of the present invention include: a base; a disc brush rotatably disposed at the bottom of the base, the disc brush being used to contact the surface to be cleaned; and a force-applying member disposed on the disc brush. During the rotation of the disc brush, under the action of the force-applying member, a portion of the disc brush forms a force-applying portion, and the contact pressure between the force-applying portion and the surface to be cleaned increases. The portion is a portion of the disc brush that is opposite a preset position on the base. The technical solutions provided by embodiments of the present invention can effectively improve the walking efficiency of the surface cleaning device, thereby improving cleaning efficiency.

Description

Technical Field

[0001] The present invention relates to the field of household cleaning, and in particular to a walking mechanism, a surface cleaning device and a walking method of the surface cleaning device. Background Art

[0002] With the rapid development of science and technology, people's living standards are becoming increasingly demanding, and their quality of life is also improving. Pursuing a higher standard of living and enjoying life has become a common pursuit, and people are eager to free their hands and let robots do the work. With the current high-rise buildings that are almost all in large cities, high-rise window cleaning has become a necessary but dangerous task. Consequently, the use of window cleaning robots is becoming increasingly widespread.

[0003] In the prior art, when a window cleaning robot is working, it can only move in a swinging manner and cannot move in a straight line, which results in low walking efficiency and further affects the working efficiency of the entire window cleaning robot. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to solve the above problems or at least partially solve the above problems, including a walking mechanism, a surface cleaning device, and a walking method for a surface cleaning device.

[0005] One aspect of an embodiment of the present invention provides a walking mechanism, comprising:

[0006] base;

[0007] a disc brush rotatably disposed on the bottom of the base, the disc brush being used to contact the surface to be cleaned;

[0008] a force applying member, arranged on the disc brush;

[0009] During the rotation of the disc brush, under the action of the force-applying member, a part of the disc brush forms a force-applying portion, and the contact pressure between the force-applying portion and the surface to be cleaned increases, wherein the part is a portion of the disc brush opposite to a preset position on the base.

[0010] Furthermore, the force applying members include a plurality of force applying members, and during the rotation of the disc brush, the plurality of force applying members can sequentially increase the contact pressure between the force applying portion and the surface to be cleaned.

[0011] Furthermore, the base has a driving member on the surface facing the disc brush. When the disc brush rotates until the force-applying member is located below the driving member, the driving member can apply a force to the force-applying member away from the driving member to increase the contact pressure between the force-applying part and the surface to be cleaned.

[0012] Furthermore, the driving member is located on the base and close to one side edge of the disc brush.

[0013] Furthermore, the plurality of force applying members are evenly distributed around the rotation axis.

[0014] Furthermore, the force-applying member is a first protrusion formed on the disc brush, and the driving member is a second protrusion formed on the base. During the rotation of the disc brush, the first protrusion and the second protrusion abut against each other to increase the contact pressure between the force-applying part and the surface to be cleaned.

[0015] Furthermore, the first protrusion is arranged in the disc brush in a floating manner along the up and down directions.

[0016] Furthermore, the first protrusion and the second protrusion are in point contact.

[0017] Furthermore, the second protrusion is arc-shaped, and the center of the second protrusion coincides with the center of the rotation axis.

[0018] Furthermore, the height of the second protrusion gradually decreases from the middle to both ends.

[0019] Optionally, the force-applying member is a first magnetic member, the driving member is a second magnetic member, and the relative state between the first magnetic member and the second magnetic member at least includes a repulsive state.

[0020] Furthermore, the magnetic poles of the first magnetic member and / or the second magnetic member are adjustable; and / or,

[0021] The magnetic force of the first magnetic member and / or the second magnetic member is adjustable.

[0022] Furthermore, the force applying member has a first working position and a second position. When the force applying member is in the first working position, the force applying member presses against the surface to be cleaned; when the force applying member is in the second working position, the force applying member is separated from the surface to be cleaned.

[0023] Furthermore, the disc brush has a plurality of spring pieces, the top of each spring piece is correspondingly provided with a first magnetic member, and the bottom of each spring piece is used to contact the surface to be cleaned.

[0024] Optionally, the force-applying member is located inside the disc brush, and multiple force-applying members are evenly dispersed in the disc brush with the rotating axis as the center. A control device is also provided in the disc brush, and the control device is connected to the force-applying member to control the force-applying member to apply pressure to the surface to be cleaned.

[0025] Furthermore, the control device is provided at the rotating shaft, and one control device controls the plurality of force applying members.

[0026] Furthermore, each of the force-applying members is correspondingly provided with a control device, and each control device controls a corresponding force-applying member.

[0027] Furthermore, the force-applying member includes an airbag, and the control device is used to adjust the air pressure in the airbag to adjust the pressure applied by the force-applying member to the surface to be cleaned.

[0028] Furthermore, the force applying member includes:

[0029] a fixing portion, fixed in the disc brush;

[0030] The movable part is slidably connected to the fixed part, and the control device is used to control the extension amount of the movable part relative to the fixed part to adjust the pressure applied by the force-applying part to the surface to be cleaned.

[0031] Optionally, the force-applying member is a cylinder, and correspondingly, the fixed part is a cylinder body, and the movable part is a cylinder piston.

[0032] A second aspect of an embodiment of the present invention provides a surface cleaning device, comprising a body, and

[0033] It includes a body and two walking mechanisms, wherein the walking mechanisms include: a base and two disc brushes;

[0034] Each of the disc brushes is rotatably disposed on the bottom of the base, and the disc brush is used to contact the surface to be cleaned;

[0035] A force applying member is provided on both of the disc brushes;

[0036] During the rotation of each disc brush, under the action of the force-applying member, a force-applying portion is formed on a part of the disc brush, and the contact pressure between the force-applying portion and the surface to be cleaned increases, wherein the part is a portion of the disc brush opposite to a preset position on the base.

[0037] Furthermore, the force applying members include a plurality of force applying members, and during the rotation of the disc brush, the plurality of force applying members can sequentially increase the contact pressure between the force applying portion and the surface to be cleaned.

[0038] Furthermore, the base has a driving member on the surface facing the disc brush. When the disc brush rotates until the force-applying member is located below the driving member, the driving member can apply a force to the force-applying member away from the driving member to increase the contact pressure between the force-applying part and the surface to be cleaned.

[0039] Furthermore, the force-applying member is a first protrusion formed on the disc brush, and the driving member is a second protrusion formed on the base. During the rotation of the disc brush, the first protrusion and the second protrusion abut against each other to increase the contact pressure between the force-applying part and the surface to be cleaned.

[0040] Optionally, the force-applying member is a first magnetic member, the driving member is a second magnetic member, and the relative state between the first magnetic member and the second magnetic member at least includes a repulsive state.

[0041] A third aspect of an embodiment of the present invention provides a walking method for a surface cleaning device, wherein the surface cleaning device includes a base, a first disc brush and a second disc brush disposed at the bottom of the base, and a connecting arm connecting the first disc brush and the second disc brush. The walking method includes:

[0042] The first disc brush is controlled to rotate in a first rotation direction, so that the first disc brush and the connecting arm generate a first torque, and the connecting arm is driven to swing along the first rotation direction by the first torque.

[0043] A fourth aspect of an embodiment of the present invention provides a walking method for a surface cleaning device, wherein the surface cleaning device includes a base, a first disc brush and a second disc brush disposed at the bottom of the base, and a connecting arm connecting the first disc brush and the second disc brush. The walking method includes:

[0044] The first disc brush and the second disc brush are controlled to rotate in opposite directions so that the surface to be cleaned generates a combined force on the first disc brush and the second disc brush, and the surface cleaning device is driven to move linearly by the combined force.

[0045] The walking mechanism, surface cleaning equipment, and walking method of the surface cleaning equipment provided by the embodiments of the present invention are as follows: a disc brush is arranged under the base, and the disc brush can rotate around a rotation axis relative to the base. The disc brush has a force-applying member for changing the size of the local contact pressure between the surface to be cleaned and the disc brush. During the process of the disc brush rotating relative to the base, the force-applying member rotates with the disc brush. Under the action of the force-applying member, a force-applying part is formed on the local part of the disc brush, and the force-applying member increases the contact pressure between the force-applying part and the surface to be cleaned, thereby forming a continuous additional friction force between the local part of the disc brush and the surface to be cleaned so that the walking mechanism can move in a straight line. This technical solution can realize the straight-line movement of the surface cleaning equipment and can improve the working efficiency of the surface cleaning equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 A schematic diagram of the exploded structure of a walking mechanism provided in one embodiment of the present invention;

[0048] Figure 2 A cross-sectional view of a walking mechanism provided in one embodiment of the present invention;

[0049] Figure 3 A schematic diagram of a walking mechanism according to an embodiment of the present invention;

[0050] Figure 4 An exploded schematic diagram of a walking mechanism provided in another embodiment of the present invention;

[0051] Figure 5 A cross-sectional view of a walking mechanism provided in another embodiment of the present invention;

[0052] Figure 6 A schematic cross-sectional view of a walking mechanism provided in yet another embodiment of the present invention;

[0053] Figure 7 A schematic structural diagram of two traveling mechanisms of a surface cleaning device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0055] Throughout the specification and claims, the word "including" is an open-ended term and should be interpreted as "including but not limited to." "Substantially" means that within an acceptable error range, a person skilled in the art can solve the technical problem and substantially achieve the technical effect.

[0056] Furthermore, the term "connected" as used herein encompasses both direct and indirect means of connection. Thus, if a first device is described as being connected to a second device, this means that the first device may be directly connected to the second device or indirectly connected to the second device through another device. The following description of preferred embodiments of the present invention is intended to illustrate the general principles of the invention and is not intended to limit the scope of the invention. The scope of protection of the present invention shall be determined by the appended claims.

[0057] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0058] Those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without mutual contradiction.

[0059] Example 1

[0060] The walking mechanism provided in this embodiment can be applied to surface cleaning equipment, including window cleaning robots, floor sweeping robots, etc. The surface cleaning equipment can work on window glass or on the ground. Figure 1 A schematic diagram of the exploded structure of a walking mechanism provided in one embodiment of the present invention; Figure 2 This is a cross-sectional view of a walking mechanism provided by an embodiment of the present invention; Figure 1 and attached Figure 2 The walking mechanism provided in this embodiment includes a base 10 and a disc brush 20. The disc brush 20 is used to contact the surface to be cleaned. The disc brush 20 may include a housing and a rag, and the rag may be located at the bottom of the housing for contacting the surface to be cleaned. The disc brush 20 can function as a seal with the surface to be cleaned to ensure that the surface cleaning device can adsorb various media at horizontal, vertical, and inclined angles. The surface to be cleaned can be the ground, or it can be a glass surface, a wall, etc. The bottom of the disc brush 20 may have an adsorption structure that adsorbs to the surface to be cleaned, so that the surface cleaning device can work on a vertical surface.

[0061] Specifically, the disc brush 20 is disposed below the base 10 and is capable of rotating relative to the base 10 about a rotation axis 30. The disc brush 20 can be driven to rotate by a motor and connected to the base 10 via the rotation axis 30. A receiving groove 11 for accommodating the disc brush 20 can be formed on the surface of the base 10 facing the disc brush 20. The groove wall 111 of the receiving groove 11 can be formed by an inward depression in the base 10 or a protruding annular wall on the base 10 that protrudes away from the base 10. The rotation axis 30 in this embodiment can be a cylindrical axis or a virtual rotation axis, which is not limited in this embodiment.

[0062] The disc brush 20 has a force applying member 21 for changing the local contact pressure between the surface to be cleaned and the disc brush 20 ; wherein the local area a is a portion of the disc brush 20 that is opposite to a preset position on the base 10 .

[0063] It should be noted that the force applying member 21 may actively apply the force, or may be driven by other driving devices to apply the force, which is not limited in this embodiment.

[0064] "Part a" can be located on the housing of the disc brush 20, with the force-applying member 21 acting on the housing to increase the friction between the housing and the surface to be cleaned. Alternatively, "part a" can be located on the rag of the disc brush 20, with the force-applying member 21 acting on the rag to increase the friction between the rag and the surface to be cleaned. Alternatively, when the force-applying member 21 is located at the bottom of the disc brush 20, the "part a" referred to in this embodiment can refer to the bottom surface of the force-applying member 21. When the force-applying member 21 acts, the force-applying member 21 in the disc brush 20 directly contacts the surface to be cleaned. Regardless of which component of the disc brush 20 contacts the surface to be cleaned, the force-applying member 21 acts to increase the contact pressure between part a of the disc brush 20 and the surface to be cleaned, thereby enabling part a of the traveling mechanism to generate friction opposite to the rotation tangent of part a.

[0065] During the rotation of the disc brush 20, the force-applying member 21 acts on a portion of the disc brush 20 to form a force-applying portion. This force-applying member 21 increases the contact pressure between the force-applying portion (i.e., portion a) and the surface to be cleaned, thereby generating additional friction between portion a and the surface to be cleaned, enabling the travel mechanism to move in a straight line. The so-called "additional friction" refers to the additional friction between the disc brush 20 and the surface to be cleaned due to the force-applying member 21. It should be understood that during the rotation of the disc brush 20, the disc brush 20 rotates relative to the base 10. The preset position on the base 10 remains unchanged, while the portion of the disc brush 20 corresponding to the preset position on the base 10 changes accordingly. If there are multiple force-applying members 21, the position of "portion a" referred to in this embodiment relative to the disc brush 20 may continuously change during the rotation of the disc brush 20. For example, when the disc brush 20 rotates to a first angle, the position corresponding to one of the force applying members 21 is the position of the part a, and when the disc brush 20 rotates to a second angle, the position corresponding to the other force applying member 21 is the position of the part a.

[0066] Preferably, the force-applying members 21 may include multiple ones, and the multiple force-applying members 21 can sequentially increase the contact pressure between the force-applying portion (part a) and the surface to be cleaned. Specifically, during the rotation of the disc brush 20, the multiple force-applying members 21 sequentially move to positions relative to the preset positions on the base and apply force. For example, when the first force-applying member 21 moves to a position relative to the preset position on the base 10, the contact pressure between the part a of the disc brush 20 and the surface to be cleaned increases. When the disc brush 20 continues to rotate, the first force-applying member 21 moves away from the position relative to the preset position on the base 10, and the contact pressure between the part a of the disc brush 20 and the surface to be cleaned decreases. When the disc brush 20 continues to rotate, the second force-applying member 21 moves to a position relative to the preset position on the base 10, and the contact pressure between the part a of the disc brush 20 and the surface to be cleaned increases again. In this way, when there are multiple force-applying members 21, as the disc brush 20 rotates, the multiple force-applying members 21 sequentially increase the contact pressure between the part a and the surface to be cleaned.

[0067] The rotation of the disc brush 20 drives the force-applying member 21 to rotate. When any force-applying member 21 reaches a position relative to a preset position on the base 10, the force-applying member 21 increases the contact pressure between the "part a" and the surface to be cleaned. When the disc brush 20 rotates, each force-applying member 21 passes through a position relative to the preset position on the base 10 in turn. Therefore, multiple force-applying members 21 can provide additional friction between the part a and the surface to be cleaned, so as to increase the friction between the part a and the surface to be cleaned, thereby enabling the entire walking mechanism to move in a straight line.

[0068] Figure 3 This is a schematic diagram of a walking mechanism provided by one embodiment of the present invention. Figure 3As shown in the figure, when the disc brush 20 rotates, the local pressure at part a generates a friction force in the opposite direction of the rotation tangent, which enables the walking mechanism to move in a straight line under the action of this friction force. Specifically, the two disc brushes 20 rotate in opposite directions, and the resultant friction force generated by the two rotating disc brushes 20 is in the forward direction, causing the entire walking mechanism to move in a straight line. It should be noted that the walking direction of the walking mechanism is related to the rotation direction of the disc brush 20. For example, Figure 3 As shown, if the part a is located on the left side, then when the disc brush 20 rotates counterclockwise, the traveling mechanism moves forward. When the traveling mechanism needs to move backward, it is only necessary to control the disc brush 20 to rotate clockwise.

[0069] The walking mechanism provided in this embodiment has a disc brush 20 provided below the base 10. The disc brush 20 can rotate relative to the base 10 around a rotation axis 30. The disc brush 20 has a plurality of force-applying members 21 for changing the size of the local contact pressure between the surface to be cleaned and the disc brush 20. During the rotation of the disc brush 20 relative to the base 10, the force-applying members 21 rotate along with the disc brush 20. Each force-applying member 21 increases the contact pressure between the local area a and the surface to be cleaned in turn, thereby forming a continuous additional friction force between the local area of ​​the disc brush 20 and the surface to be cleaned, so that the walking mechanism can move in a straight line. When this technical solution is applied to a surface cleaning device, it can realize the straight-line movement of the surface cleaning device and improve the working efficiency of the surface cleaning device.

[0070] Example 2

[0071] This embodiment provides a specific implementation method based on the first embodiment. Figure 1 and Figure 2 As shown, the surface of the base 10 facing the disc brush 20 may have a driving member 12. When the disc brush 20 rotates to the point where the force-applying member 21 is located below the driving member 12, the driving member 12 can apply a force to the force-applying member 21 away from the driving member 12, thereby increasing the contact pressure between the force-applying portion (partial a) and the surface to be cleaned. The position of the driving member 12 on the base 10 is a preset position on the base 10 described in the first embodiment. When the force-applying member 21 rotates below the position of the driving member 12, the driving member 12 can apply a force to the force-applying member 21. This force can be perpendicular to the plane of the disc brush 20, or at least have a force component perpendicular to the plane of the disc brush 20.

[0072] like Figure 1As shown, the drive member 12 can be located on the base 10, near one edge of the disc brush 20. This places the portion a close to the edge of the disc brush 20. As can be appreciated, the closer the portion a is to the edge, the greater its linear velocity during rotation, and the faster the disc brush 20 travels, thus maximizing travel efficiency. In certain applications, reducing the travel speed can be accomplished by simply lowering the rotational speed of the disc brush 20.

[0073] The plurality of force-applying members 21 can be evenly dispersed and arranged around the rotation axis 30. In this embodiment, the number of force-applying members 21 is not limited. It is understood that the greater the number of force-applying members 21, the more continuous additional friction force can be applied between the area a and the surface to be cleaned, so that the walking mechanism can continuously move forward or backward.

[0074] Specifically, the force applying member 21 may be a first protrusion formed on the disc brush 20, and the driving member 12 may be a second protrusion formed on the base 10. During the rotation of the disc brush 20, the first protrusion and the second protrusion abut against each other, thereby increasing the contact pressure between the force applying portion (part a) and the surface to be cleaned. Figure 1 As shown, the disc brush 20 is provided with a plurality of first protrusions, which can be arranged in a ring shape around the rotation center of the disc brush 20. During the rotation of the disc brush 20, the plurality of first protrusions rotate with the disc brush 20, and the plurality of first protrusions sequentially abut against the second protrusions. Once the first protrusions abut against the second protrusions, due to the interaction of forces, a part a of the disc brush 20 will apply a local pressure to the surface to be cleaned, so that the part a generates an additional frictional force, and the entire disc brush 20 is subjected to unbalanced force. Under the action of the additional frictional force, the entire walking mechanism moves in a straight line.

[0075] Furthermore, the first protrusion can be provided in the disc brush 20 in a floating manner along the up and down directions. Figure 2 The vertical direction (indicated by the arrows) is perpendicular to the surface to be cleaned. Specifically, the disc brush 20 may be provided with a through-hole 23 for the first protrusion to pass through, and the first protrusion may be slidably mounted within the through-hole 23. Furthermore, the disc brush 20 may also include a limiting structure for limiting the vertical floating travel of the first protrusion to prevent it from escaping from the through-hole 23. This limiting structure may specifically include a first limiting portion m for limiting the upper limit of the first protrusion, and a second limiting portion n for limiting the lower limit of the first protrusion.

[0076] The first protrusion can float up and down, reducing the friction between the disc brush 20 and the base 10, ensuring smooth rotation of the disc brush 20. During the rotation of the disc brush 20, when the top surface of the first protrusion contacts the second protrusion of the base 10, the first protrusion protrudes upward, pressing the rag on the disc brush 20. The rag then presses the glass, effectively wiping it. As the disc brush 20 rotates, the tangential force of the rotation of the local area a creates forward or backward momentum. As the disc brush continues to rotate and the multiple first protrusions continue to operate, the surface cleaning device can move forward or backward stably.

[0077] Furthermore, it can also include a floating control device for controlling the up and down floating amount of the first protrusion. The floating control device can be connected to the first protrusion to limit the up and down floating amount of the first protrusion. By adjusting the up and down floating amount of the first protrusion, the local pressure can be adjusted to adjust the walking speed of the walking mechanism.

[0078] like Figure 2 As shown, the contact between the first and second protrusions can be point contact. Specifically, the top surface of the first protrusion can be a curved surface or a spherical surface, and the top surface of the second protrusion can be a plane or a curved surface that projects in a direction opposite to the top surface of the first protrusion. The point contact between the first and second protrusions reduces friction between the first and second protrusions. During the rotation of the disc brush 20, the first protrusion can slide smoothly over the second protrusion, effectively ensuring smooth operation of the entire surface cleaning device and improving the user experience.

[0079] like Figure 1 As shown, the second protrusion can be arc-shaped, and the center of the second protrusion coincides with the center of the rotating shaft 30. In this embodiment, the second protrusion can be semicircular, so that the second protrusion can abut against multiple first protrusions at the same time. Alternatively, in other embodiments, the second protrusion can be block-shaped,

[0080] The second protrusion can only abut against one first protrusion at the same time.

[0081] Preferably, the height of the second protrusion gradually decreases from the middle to the two ends. In other words, the second protrusion can be in the shape of a double-slope track with a high middle and low ends. In this way, the second protrusion can simultaneously abut against multiple first protrusions. For example, at a certain moment, five first protrusions abut against the second protrusions at the same time. The first protrusion located at the outermost edge abuts against the highest point of the second protrusion, and the other four first protrusions abut against both sides of the second protrusion with the highest point of the second protrusion as the center. It can be understood that the height of the second protrusion can be symmetrically set with the highest point as the center. The forces exerted by the first protrusions on both sides of the highest point of the second protrusion are balanced, and the force exerted by the first protrusion located at the highest point of the second protrusion generates local pressure on the local area a, thereby generating additional friction in the local area a.

[0082] By designing the second protrusion into a highly gradient structure, the interaction force between the first protrusion and the second protrusion can change slowly, thereby avoiding the sudden disappearance of the interaction force between the first protrusion and the second protrusion, causing the entire device to work unsmoothly, generate vibration, and affect the use effect.

[0083] It should be noted that at the same time, the second protrusion can only cooperate with one first protrusion, or, when the second protrusion has the aforementioned arc-shaped structure with a gradually changing height, the second protrusion can simultaneously abut against several first protrusions. When the second protrusion only abuts against one first protrusion at the same time, only one first protrusion and the disc brush 20 can achieve the purpose of increasing the contact pressure between the local area a and the surface to be cleaned through the first protrusion contacting the rag. When the second protrusion abuts against multiple first protrusions at the same time, the first protrusion at the outermost edge exerts the greatest force, while the other first protrusions may contact the rag but exert less force, or the forces exerted by the other first protrusions on the surface to be cleaned are balanced.

[0084] Example 3

[0085] This embodiment provides an implementation method different from that of the second embodiment based on the first embodiment. Figure 4 An exploded schematic diagram of a walking mechanism provided in another embodiment of the present invention; Figure 5 A cross-sectional view of a walking mechanism according to another embodiment of the present invention. Figure 4 and Figure 5As shown, the force-applying member 21 is a first magnetic member, the driving member 12 is a second magnetic member, and the first magnetic member and the second magnetic member at least include a repulsive state. The arrangement of the first magnetic member in this embodiment can be the same as the arrangement of the first protrusion in Example 2, and the second magnetic member can be block-shaped. The magnetic poles of the first magnetic member and the second magnetic member can be the same, so that when the first magnetic member rotates to a position opposite to the second magnetic member, the repulsive force between the two is maximized, the local pressure on the disc brush 20 is maximized, and the friction between the part a of the disc brush 20 and the surface to be cleaned is maximized. Under the action of this friction, the walking mechanism moves in a straight line.

[0086] It should be noted that, in order to enable the force between the first magnetic member and the second magnetic member to better act on the part a of the disc brush 20, the first magnetic member and the second magnetic member with larger magnetic force can be selected.

[0087] In this embodiment, further, the magnetic poles of the first magnetic member and / or the second magnetic member are adjustable. For example, the first magnetic member and the second magnetic member can be electromagnets respectively, and the magnetic poles of the first magnetic member and the second magnetic member can be changed by changing the direction of the current flowing through the first magnetic member and / or the second magnetic member. For example, in the initial state, the opposite ends of the first magnetic member and the second magnetic member can both be N poles, or the opposite ends of the first magnetic member and the second magnetic member can both be S poles, and when the magnetic poles of the first magnetic member or the second magnetic member are changed, the first magnetic member and the second magnetic member can be attracted to each other. The first magnetic member and the second magnetic member can switch between a repulsive state and an attractive state. By adjusting the frequency of the magnetic poles of the first magnetic member and the second magnetic member, the additional friction between the disc brush 20 and the surface to be cleaned can be controlled, thereby changing the walking mode of the walking mechanism, so that the surface cleaning device can have a multi-form walking mode, such as fast and slow walking, fast and slow turning, etc.

[0088] Furthermore, the magnetic force of the first magnetic member and / or the second magnetic member is adjustable. This allows the magnitude of the force between the first magnetic member and the second magnetic member to be varied, and the magnitude of the additional friction between the disc brush 20 and the surface to be cleaned to be variable. This allows the walking mechanism to be modified in terms of its walking mode or speed, such as fast or slow walking, fast or slow turning, etc., as needed.

[0089] The force-applying member 21 can have a first working position and a second position. When the force-applying member 21 is in the first working position, the force-applying member 21 presses against the surface to be cleaned; when the force-applying member 21 is in the second working position, the force-applying member 21 is separated from the surface to be cleaned. It should be noted that the force-applying member 21 pressing against the surface to be cleaned includes the following two situations: the first is that the force-applying member 21 directly contacts and presses against the surface to be cleaned, and the second is that the force-applying member presses against the cleaning cloth, thereby indirectly pressing against the surface to be cleaned.

[0090] like Figure 5 As shown, the disc brush 20 can have multiple springs 22, with a first magnetic member corresponding to the top of each spring 22, and the bottom of each spring 22 is used to contact the surface to be cleaned. The bottom of the spring 22 can be flat and flush with the surface to be cleaned. When the first magnetic member is subjected to the repulsive force from the second magnetic member, the spring 22 can produce a slight deformation to better transmit the repulsive force, thereby generating local pressure between the disc brush 20 and the surface to be cleaned. It should be noted that because the spring 22 contacts the surface to be cleaned, the local area a in this embodiment is located on the spring 22, and the bottom of the spring 22 corresponding to the first magnetic member opposite the second magnetic member is the local area a.

[0091] Example 4

[0092] This embodiment provides a specific implementation method that is different from the second and third embodiments based on the first embodiment. Figure 6 Schematic cross-sectional view of a walking mechanism provided by another embodiment of the present invention. Figure 6 As shown, the force-applying member 21 is located within the disc brush 20. Multiple force-applying members 21 are evenly distributed within the disc brush 20, centered around the rotating shaft 30. A control device (not shown) is also provided within the disc brush 20. The control device is connected to the force-applying member 21 to control the force-applying member 21 in applying pressure to the surface to be cleaned. It should be noted that in this embodiment, the force-applying member 21 is part of the disc brush 20. Since the force-applying member 21 contacts and applies pressure to the surface to be cleaned, the portion a in the first embodiment refers to the contact portion between the force-applying member 21 and the surface to be cleaned.

[0093] Specifically, the control device can be provided at the rotating shaft 30, and one control device controls multiple force-applying members 21. The control device is provided at the rotating shaft 30, and one control device controls multiple force-applying members 21. The weight and volume of each force-applying member 21 can be equal. The multiple force-applying members 21 are evenly arranged on the disc brush 20, so that when the control device does not control the force-applying members 21 to apply force, the circumferential force applied to the disc brush 20 is balanced during rotation. When the control device controls one of the force-applying members 21 to apply force, the force-applying member 21 applies local pressure to the surface to be cleaned, and the force applied to the entire disc brush 20 is unbalanced, generating additional friction between the bottom of the force-applying member 21 and the surface to be cleaned, thereby enabling the walking mechanism to move in a straight line.

[0094] Optionally, a control device may be provided on each force-applying member 21, and each control device may control a corresponding force-applying member 21. Similarly, the weight of each control device may be equal, and the volume and weight of each force-applying member 21 may be equal and evenly distributed, so that when the control device is not controlling the force-applying member 21 to apply force, the circumferential force acting on the disc brush 20 during rotation is balanced.

[0095] In a certain embodiment, the force-applying member 21 may include an airbag, and the control device may be used to adjust the air pressure in the airbag to adjust the pressure applied by the force-applying portion (i.e., the portion a) to the surface to be cleaned. The airbag may be provided in the disc brush 20, with only a small portion exposed from the bottom of the disc brush 20 to squeeze the surface to be cleaned. The air pressure in the airbag is adjusted by the control device. It can be understood that when the air pressure in the airbag is greater, the local pressure between the airbag and the surface to be cleaned should also be greater, and when the air pressure in the airbag is smaller, the local pressure between the airbag and the surface to be cleaned will be smaller. By adjusting the air pressure in the airbag, the local pressure between the portion a and the surface to be cleaned can be adjusted, and the change in local pressure enables the walking mechanism to move in a straight line.

[0096] Alternatively, unlike the above embodiment, the force-applying member 21 in this embodiment may include a fixed portion 211 and a movable portion 212. The fixed portion 211 may be fixed within the disc brush 20; the movable portion 212 may be slidably connected to the fixed portion 211. A control device may be used to control the extension of the movable portion 212 relative to the fixed portion 211 to adjust the pressure applied by the force-applying member 21 to the surface to be cleaned. Specifically, the control device may control the extension of the movable portion 212 by controlling the displacement of the movable portion 212 relative to the fixed portion 211.

[0097] More specifically, the force-applying member 21 may be a cylinder, with the fixed portion 211 being the cylinder body and the movable portion 212 being the cylinder piston. The pressure within the cylinder body is controlled by a control device, thereby adjusting the extension of the cylinder piston. The extension of the cylinder piston applies local pressure to the surface to be cleaned, enabling the travel mechanism to travel in a straight line.

[0098] Example 5

[0099] This embodiment provides a surface cleaning device. The surface cleaning device in this embodiment includes a window cleaning robot, a floor sweeping robot, etc. The surface cleaning device can work on window glass or on the ground.

[0100] Please refer to the attached Figure 1 and attached Figure 2 , this embodiment provides a surface cleaning device including a body and a traveling mechanism, the traveling mechanism including a base 10 and two disc brushes 20. Each disc brush 20 is rotatably provided at the bottom of the base 10, and is used to contact the surface to be cleaned. The disc brush 20 may include a shell and a rag, and the rag may be located at the bottom of the shell for contacting the surface to be cleaned. The disc brush 20 may play a role of sealing with the surface to be cleaned to ensure that the surface cleaning device can adsorb various media at horizontal, vertical, and inclined angles. Among them, the surface to be cleaned can be the ground, or it can be a glass surface, a wall, etc. The bottom of the disc brush 20 may have an adsorption structure that adsorbs on the surface to be cleaned, so that the surface cleaning device can work on a vertical surface.

[0101] Specifically, the disc brush 20 is disposed at the bottom of the base 10 and is capable of rotating relative to the base 10 about a rotation axis 30. The disc brush 20 and the base 10 are connected via the rotation axis 30, and the disc brush 20 can be rotated by a motor. A receiving groove 11 for accommodating the disc brush 20 can be formed on the surface of the base 10 facing the disc brush 20. The groove wall 111 of the receiving groove 11 can be formed by an inward depression of the base 10 or a protruding annular wall on the base 10 that protrudes away from the base 10. The rotation axis 30 in this embodiment can be a cylindrical axis or a virtual rotation axis, which is not limited in this embodiment.

[0102] Each disc brush 20 has a force-applying member 21 for varying the local contact pressure between the surface to be cleaned and the disc brush 20. Part "a" refers to the portion of the disc brush 20 that faces a predetermined position on the base 10. It will be appreciated that as the disc brush 20 rotates, the portion of the disc brush 20 that faces the predetermined position on the base 10 also changes. Therefore, the position of "part "a" in this embodiment, relative to the disc brush 20, constantly changes during the rotation of the disc brush 20.

[0103] It should be noted that the force applying member 21 may actively apply the force, or may be driven by other driving devices to apply the force, which is not limited in this embodiment.

[0104] "Part a" can be located on the housing of the disc brush 20, with the force-applying member 21 acting on the housing to increase the friction between the housing and the surface to be cleaned. Alternatively, "part a" can be located on the rag of the disc brush 20, with the force-applying member 21 acting on the rag to increase the friction between the rag and the surface to be cleaned. Alternatively, when the force-applying member 21 is located at the bottom of the disc brush 20, the "part a" referred to in this embodiment can refer to the bottom surface of the force-applying member 21. When the force-applying member 21 acts, the force-applying member 21 in the disc brush 20 directly contacts the surface to be cleaned. Regardless of which component of the disc brush 20 contacts the surface to be cleaned, the force-applying member 21 acts to increase the contact pressure between part a of the disc brush 20 and the surface to be cleaned, thereby enabling part a of the traveling mechanism to generate friction opposite to the rotation tangent of part a.

[0105] During the rotation of the disc brush 20, the force-applying member 21 acts on a portion of the disc brush 20 to form a force-applying area. This force-applying member 21 increases the contact pressure between the force-applying area (i.e., area a) and the surface to be cleaned, creating additional friction between area a and the surface to be cleaned, enabling the travel mechanism to move in a straight line. The so-called "additional friction" refers to the additional friction between the disc brush 20 and the surface to be cleaned caused by the force-applying member 21.

[0106] It will be understood that during the rotation of the disc brush 20, the disc brush 20 rotates relative to the base 10. The preset position on the base 10 remains unchanged, while the portion of the disc brush 20 corresponding to the preset position on the base 10 changes accordingly. When there are multiple force-applying members 21, the position of the "partial portion a" referred to in this embodiment may continuously change relative to the disc brush 20 during the rotation of the disc brush 20. For example, when the disc brush 20 rotates to a first angle, the position corresponding to one of the force-applying members 21 is the position of the partial portion a, while when the disc brush 20 rotates to a second angle, the position corresponding to another force-applying member 21 is the position of the partial portion a.

[0107] Preferably, the force-applying members 21 may include multiple ones, and the multiple force-applying members 21 can sequentially increase the contact pressure between the force-applying portion (part a) and the surface to be cleaned. Specifically, during the rotation of the disc brush 20, the multiple force-applying members 21 sequentially move to positions relative to the preset positions on the base and apply force. For example, when the first force-applying member 21 moves to a position relative to the preset position on the base 10, the contact pressure between the part a of the disc brush 20 and the surface to be cleaned increases. When the disc brush 20 continues to rotate, the first force-applying member 21 moves away from the position relative to the preset position on the base 10, and the contact pressure between the part a of the disc brush 20 and the surface to be cleaned decreases. When the disc brush 20 continues to rotate, the second force-applying member 21 moves to a position relative to the preset position on the base 10, and the contact pressure between the part a of the disc brush 20 and the surface to be cleaned increases again. In this way, when there are multiple force-applying members 21, as the disc brush 20 rotates, the multiple force-applying members 21 sequentially increase the contact pressure between the part a and the surface to be cleaned.

[0108] The rotation of the disc brush 20 drives the force-applying member 21 to rotate. When any force-applying member 21 reaches a position relative to a preset position on the base 10, the force-applying member 21 increases the contact pressure between the "part a" and the surface to be cleaned. When the disc brush 20 rotates, each force-applying member 21 passes through a position relative to the preset position on the base 10 in turn. Therefore, multiple force-applying members 21 can provide additional friction between the part a and the surface to be cleaned, so as to increase the friction between the part a and the surface to be cleaned, thereby enabling the entire walking mechanism to move in a straight line.

[0109] Figure 3 This is a schematic diagram of a walking mechanism provided by one embodiment of the present invention. Figure 3 As shown in FIG, when the disc brush 20 rotates, a local pressure is applied to a portion a, thereby generating a friction force in the opposite direction of the rotation tangent, so that the walking mechanism can move in a straight line under the action of this friction force. It should be noted that the walking direction of the walking mechanism is related to the rotation direction of the disc brush 20. For example, Figure 3As shown, if the part a is located on the left side, then when the disc brush 20 rotates counterclockwise, the traveling mechanism moves forward. When the traveling mechanism needs to move backward, it is only necessary to control the disc brush 20 to rotate clockwise.

[0110] The surface cleaning device in this embodiment can have two running mechanisms. When the disc brushes 20 of the two running mechanisms rotate in opposite directions and at the same speed, the surface cleaning device can travel in a straight line. When the disc brush 20 of one running mechanism rotates at zero speed while the disc brush 20 of the other running mechanism rotates, the surface cleaning device can turn. Alternatively, if the speed of the disc brush 20 of one running mechanism is lower than that of the other running mechanism, the surface cleaning device can turn while traveling. Alternatively, the two disc brushes 20 can alternately serve as the center of rotation, with one disc brush swinging relative to the other, achieving swinging travel of the entire cleaning device. Alternatively, the local pressure applied by the force-applying members 21 on the two running mechanisms can be controlled to cause different forces on the two running mechanisms, thereby achieving different motion modes of the surface cleaning device.

[0111] Figure 7 Schematic diagram of the structure of two walking mechanisms of the surface cleaning device provided by the embodiment of the present invention. Figure 7 As shown, the two running mechanisms (disc brush 20 shown) can be connected by a connecting arm 100, and the part a is located on the inner side of the disc brush of each running mechanism ( Figure 7 The inner side of the disc brush is the side of the disc brush close to the connecting arm 100. Figure 7 As shown, taking the right disc brush 201 as an example, when disc brush 201 rotates counterclockwise, the additional friction force in section a is directed forward, causing disc brush 201 to move forward. This generates a torsional force between the disc brush and the connecting arm 100, which causes the connecting arm 100 to swing counterclockwise, thereby enabling the travel mechanism to move. Similarly, when the left disc brush 202 rotates clockwise, the additional friction force in section a is directed forward, causing disc brush 202 to move forward. This generates a torsional force between the disc brush and the connecting arm 100, which causes the connecting arm to swing clockwise, thereby enabling the travel mechanism to move. In another embodiment, section a is located outside the disc brush of each travel mechanism.

[0112] The surface cleaning device provided in this embodiment has a disc brush 20 arranged below the base 10. The disc brush 20 can rotate around a rotation axis 30 relative to the base 10. The disc brush 20 has a force-applying member 21 for changing the size of the local contact pressure between the surface to be cleaned and the disc brush 20. During the rotation of the disc brush 20 relative to the base 10, the force-applying member 21 rotates along with the disc brush 20. The force-applying member 21 increases the contact pressure between the local area a and the surface to be cleaned, thereby forming a continuous additional friction force between the local area of ​​the disc brush 20 and the surface to be cleaned, so that the walking mechanism can move in a straight line. When this technical solution is applied to the surface cleaning device, the surface cleaning device can move in a straight line, which can improve the working efficiency of the surface cleaning device.

[0113] Example 6

[0114] This embodiment provides a specific implementation method based on the fifth embodiment, such as Figure 1 and Figure 2 As shown, the surface of the base 10 facing the disc brush 20 may have a driving member 12. When the disc brush 20 rotates to the point where the force-applying member 21 is located below the driving member 12, the driving member 12 can apply a force to the force-applying member 21 away from the driving member 12, thereby increasing the contact pressure between the force-applying portion (partial a) and the surface to be cleaned. The position of the driving member 12 on the base 10 is a preset position on the base 10 described in the first embodiment. When the force-applying member 21 rotates below the position of the driving member 12, the driving member 12 can apply a force to the force-applying member 21. This force can be perpendicular to the plane of the disc brush 20, or at least have a force component perpendicular to the plane of the disc brush 20.

[0115] like Figure 1 As shown, the drive member 12 can be located on the base 10, near one edge of the disc brush 20. This places the portion a close to the edge of the disc brush 20. As can be appreciated, the closer the portion a is to the edge, the greater its linear velocity during rotation, and the faster the disc brush 20 travels, thus maximizing travel efficiency. In certain applications, reducing the travel speed can be accomplished by simply lowering the rotational speed of the disc brush 20.

[0116] The plurality of force-applying members 21 can be evenly dispersed and arranged around the rotation axis 30. In this embodiment, the number of force-applying members 21 is not limited. It is understood that the greater the number of force-applying members 21, the more continuous additional friction force can be applied between the area a and the surface to be cleaned, so that the walking mechanism can continuously move forward or backward.

[0117] Specifically, the force applying member 21 may be a first protrusion formed on the disc brush 20, and the driving member 12 may be a second protrusion formed on the base 10. During the rotation of the disc brush 20, the first protrusion and the second protrusion abut against each other, thereby increasing the contact pressure between the force applying portion (part a) and the surface to be cleaned. Figure 1 As shown, the disc brush 20 is provided with a plurality of first protrusions, which can be arranged in a ring shape around the rotation center of the disc brush 20. During the rotation of the disc brush 20, the plurality of first protrusions rotate with the disc brush 20, and the plurality of first protrusions sequentially abut against the second protrusions. Once the first protrusions abut against the second protrusions, due to the interaction of forces, a part a of the disc brush 20 will apply a local pressure to the surface to be cleaned, so that the part a generates an additional frictional force, and the entire disc brush 20 is subjected to unbalanced force. Under the action of the additional frictional force, the entire walking mechanism moves in a straight line.

[0118] Furthermore, the first protrusion can be provided in the disc brush 20 in a floating manner along the up and down directions. Figure 2 The vertical direction (indicated by the arrows) is perpendicular to the surface to be cleaned. Specifically, the disc brush 20 may be provided with a through-hole 23 for the first protrusion to pass through, and the first protrusion may be slidably mounted within the through-hole 23. Furthermore, the disc brush 20 may also include a limiting structure for limiting the vertical floating travel of the first protrusion to prevent it from escaping from the through-hole 23. This limiting structure may specifically include a first limiting portion m for limiting the upper limit of the first protrusion, and a second limiting portion n for limiting the lower limit of the first protrusion.

[0119] The first protrusion can float up and down, reducing the friction between the disc brush 20 and the base 10, ensuring smooth rotation of the disc brush 20. During the rotation of the disc brush 20, when the top surface of the first protrusion contacts the second protrusion of the base 10, the first protrusion protrudes upward, pressing the rag on the disc brush 20. The rag then presses the glass, effectively wiping it. As the disc brush 20 rotates, the tangential force of the rotation of the local area a creates forward or backward momentum. As the disc brush continues to rotate and the multiple first protrusions continue to operate, the surface cleaning device can move forward or backward stably.

[0120] Furthermore, it can also include a floating control device for controlling the up and down floating amount of the first protrusion. The floating control device can be connected to the first protrusion to limit the up and down floating amount of the first protrusion. By adjusting the up and down floating amount of the first protrusion, the local pressure can be adjusted to adjust the walking speed of the walking mechanism.

[0121] like Figure 2 As shown, the contact between the first protrusion and the second protrusion can be point contact. Specifically,

[0122] The top surface of the first protrusion can be a curved or spherical surface, while the top surface of the second protrusion can be a flat surface or a curved surface that projects in a direction opposite to the top surface of the first protrusion. The contact between the first and second protrusions is point contact, which reduces friction between the first and second protrusions. During the rotation of the disc brush 20, the first protrusion can slide smoothly over the second protrusion, effectively ensuring smooth operation of the entire surface cleaning device and improving the user experience.

[0123] like Figure 1 As shown, the second protrusion can be arc-shaped, with the center of the second protrusion coinciding with the center of the rotation axis 30. In this embodiment, the second protrusion can be semicircular, so that the second protrusion can abut against multiple first protrusions simultaneously. Alternatively, in other embodiments, the second protrusion can be block-shaped, so that the second protrusion can only abut against one first protrusion at a time.

[0124] Preferably, the height of the second protrusion gradually decreases from the middle to the two ends. In other words, the second protrusion can be in the shape of a double-slope track with a high middle and low ends. In this way, the second protrusion can simultaneously abut against multiple first protrusions. For example, at a certain moment, five first protrusions abut against the second protrusions at the same time. The first protrusion located at the outermost edge abuts against the highest point of the second protrusion, and the other four first protrusions abut against both sides of the second protrusion with the highest point of the second protrusion as the center. It can be understood that the height of the second protrusion can be symmetrically set with the highest point as the center. The forces exerted by the first protrusions on both sides of the highest point of the second protrusion are balanced, and the force exerted by the first protrusion located at the highest point of the second protrusion generates local pressure on the local area a, thereby generating additional friction in the local area a.

[0125] By designing the second protrusion into a highly gradient structure, the interaction force between the first protrusion and the second protrusion can change slowly, thereby avoiding the sudden disappearance of the interaction force between the first protrusion and the second protrusion, causing the entire device to work unsmoothly, generate vibration, and affect the use effect.

[0126] It should be noted that at the same time, the second protrusion can only cooperate with one first protrusion, or, when the second protrusion has the aforementioned arc-shaped structure with a gradually changing height, the second protrusion can simultaneously abut against several first protrusions. When the second protrusion only abuts against one first protrusion at the same time, only one first protrusion and the disc brush 20 can achieve the purpose of increasing the contact pressure between the local area a and the surface to be cleaned through the first protrusion contacting the rag. When the second protrusion abuts against multiple first protrusions at the same time, the first protrusion at the outermost edge exerts the greatest force, while the other first protrusions may contact the rag but exert less force, or the forces exerted by the other first protrusions on the surface to be cleaned are balanced.

[0127] Example 7

[0128] This embodiment provides an implementation method different from that of the sixth embodiment based on the fifth embodiment. Figure 4 and Figure 5 As shown, the force-applying member 21 is a first magnetic member, the driving member 12 is a second magnetic member, and the first magnetic member and the second magnetic member at least include a repulsive state. The arrangement of the first magnetic member in this embodiment can be the same as the arrangement of the first protrusion in Example 2, and the second magnetic member can be block-shaped. The magnetic poles of the first magnetic member and the second magnetic member can be the same, so that when the first magnetic member rotates to a position opposite to the second magnetic member, the repulsive force between the two is maximized, the local pressure on the disc brush 20 is maximized, and the friction between the part a of the disc brush 20 and the surface to be cleaned is maximized. Under the action of this friction, the walking mechanism moves in a straight line.

[0129] It should be noted that, in order to enable the force between the first magnetic member and the second magnetic member to better act on the part a of the disc brush 20, the first magnetic member and the second magnetic member with larger magnetic force can be selected.

[0130] In this embodiment, further, the magnetic poles of the first magnetic member and / or the second magnetic member are adjustable. For example, the first magnetic member and the second magnetic member can be electromagnets respectively, and the magnetic poles of the first magnetic member and the second magnetic member can be changed by changing the direction of the current flowing through the first magnetic member and / or the second magnetic member. For example, in the initial state, the opposite ends of the first magnetic member and the second magnetic member can both be N poles, or the opposite ends of the first magnetic member and the second magnetic member can both be S poles, and when the magnetic poles of the first magnetic member or the second magnetic member are changed, the first magnetic member and the second magnetic member can be attracted to each other. The first magnetic member and the second magnetic member can switch between a repulsive state and an attractive state. By adjusting the frequency of the magnetic poles of the first magnetic member and the second magnetic member, the additional friction between the disc brush 20 and the surface to be cleaned can be controlled, thereby changing the walking mode of the walking mechanism, so that the surface cleaning device can have a multi-form walking mode, such as fast and slow walking, fast and slow turning, etc.

[0131] Furthermore, the magnetic force of the first magnetic member and / or the second magnetic member is adjustable. This allows the magnitude of the force between the first magnetic member and the second magnetic member to be varied, and the magnitude of the additional friction between the disc brush 20 and the surface to be cleaned to be variable. This allows the walking mechanism to be modified in terms of its walking mode or speed, such as fast or slow walking, fast or slow turning, etc., as needed.

[0132] like Figure 5As shown, the disc brush 20 can have multiple springs 22, with a first magnetic member corresponding to the top of each spring 22, and the bottom of each spring 22 is used to contact the surface to be cleaned. The bottom of the spring 22 can be flat and flush with the surface to be cleaned. When the first magnetic member is subjected to the repulsive force from the second magnetic member, the spring 22 can produce a slight deformation to better transmit the repulsive force, thereby generating local pressure between the disc brush 20 and the surface to be cleaned. It should be noted that because the spring 22 contacts the surface to be cleaned, the local area a in this embodiment is located on the spring 22, and the bottom of the spring 22 corresponding to the first magnetic member opposite the second magnetic member is the local area a.

[0133] Example 8

[0134] This embodiment provides a specific implementation method that is different from the sixth and seventh embodiments based on the fifth embodiment. Figure 6 As shown, the force-applying member 21 is located within the disc brush 20. Multiple force-applying members 21 are evenly distributed within the disc brush 20, centered around the rotating shaft 30. A control device (not shown) is also provided within the disc brush 20. The control device is connected to the force-applying member 21 to control the force-applying member 21 in applying pressure to the surface to be cleaned. It should be noted that in this embodiment, the force-applying member 21 is part of the disc brush 20. Since the force-applying member 21 contacts and applies pressure to the surface to be cleaned, the portion a in the first embodiment refers to the contact portion between the force-applying member 21 and the surface to be cleaned.

[0135] Specifically, the control device can be provided at the rotating shaft 30, and one control device controls multiple force-applying members 21. The control device is provided at the rotating shaft 30, and one control device controls multiple force-applying members 21. The weight and volume of each force-applying member 21 can be equal. The multiple force-applying members 21 are evenly arranged on the disc brush 20, so that when the control device does not control the force-applying members 21 to apply force, the circumferential force applied to the disc brush 20 is balanced during rotation. When the control device controls one of the force-applying members 21 to apply force, the force-applying member 21 applies local pressure to the surface to be cleaned, and the force applied to the entire disc brush 20 is unbalanced, generating additional friction between the bottom of the force-applying member 21 and the surface to be cleaned, thereby enabling the walking mechanism to move in a straight line.

[0136] Optionally, a control device may be provided on each force-applying member 21, and each control device may control a corresponding force-applying member 21. Similarly, the weight of each control device may be equal, and the volume and weight of each force-applying member 21 may be equal and evenly distributed, so that when the control device is not controlling the force-applying member 21 to apply force, the circumferential force acting on the disc brush 20 during rotation is balanced.

[0137] In one embodiment, the force-applying member 21 may include an airbag, and the control device may be used to adjust the air pressure in the airbag to adjust the pressure applied by the force-applying portion (partial a) to the surface to be cleaned. The airbag may be provided in the disc brush 20, with only a small portion exposed from the bottom of the disc brush 20 to squeeze the surface to be cleaned. The air pressure in the airbag is adjusted by the control device. It can be understood that when the air pressure in the airbag is greater, the local pressure between the airbag and the surface to be cleaned should also be greater, and when the air pressure in the airbag is lower, the local pressure between the airbag and the surface to be cleaned will be lower. By adjusting the air pressure in the airbag, the local pressure between the partial a and the surface to be cleaned can be adjusted, and the change in local pressure enables the walking mechanism to move in a straight line.

[0138] Alternatively, unlike the above embodiment, the force-applying member 21 in this embodiment may include a fixed portion 211 and a movable portion 212. The fixed portion 211 may be fixed within the disc brush 20; the movable portion 212 may be slidably connected to the fixed portion 211. A control device may be used to control the extension of the movable portion 212 relative to the fixed portion 211 to adjust the pressure applied by the force-applying member (partial portion a) to the surface to be cleaned. Specifically, the control device may control the extension of the movable portion 212 by controlling the displacement of the movable portion 212 relative to the fixed portion 211.

[0139] More specifically, the force-applying member 21 may be a cylinder, with the fixed portion 211 being the cylinder body and the movable portion 212 being the cylinder piston. The pressure within the cylinder body is controlled by a control device, thereby adjusting the extension of the cylinder piston. The extension of the cylinder piston applies local pressure to the surface to be cleaned, enabling the travel mechanism to travel in a straight line.

[0140] Embodiment 9

[0141] This embodiment provides a walking method for a surface cleaning device, which is applied to the surface cleaning device of any one of the fifth to eighth embodiments. Specifically, the surface cleaning device includes a base, a first disc brush and a second disc brush disposed at the bottom of the base, and the first disc brush is provided with a first force applying member and the second disc brush is provided with a second force applying member. The walking method of this embodiment includes:

[0142] The first disc brush is controlled to rotate in a first rotation direction, so that the first disc brush and the connecting arm generate a first torque, and the connecting arm is driven to swing along the first rotation direction by the first torque.

[0143] like Figure 7 As shown, one of the disc brushes is controlled to rotate counterclockwise, and the other disc brush and the connecting arm generate a first torque, which drives the connecting arm to swing counterclockwise.

[0144] Example 10

[0145] This embodiment provides another walking method for a surface cleaning device, which is applied to the surface cleaning device of any one of the fifth to eighth embodiments. Specifically, the surface cleaning device includes a base, a first disc brush and a second disc brush disposed at the bottom of the base, and the first disc brush is provided with a first force applying member and the second disc brush is provided with a second force applying member. The walking method of this embodiment includes:

[0146] The first disc brush and the second disc brush are controlled to rotate in opposite directions so that the surface to be cleaned generates a combined force on the first disc brush and the second disc brush, and the surface cleaning device is driven to move linearly by the combined force.

[0147] The following describes the walking mechanism and surface cleaning device provided by the second embodiment of the present invention in conjunction with specific application scenarios:

[0148] Application scenario 1:

[0149] A surface cleaning device wipes a window with a disc brush attached to the window and a rag on the disc brush wiping the window. When the surface cleaning device needs to move to a target location for wiping, the disc brushes of two running mechanisms on the surface cleaning device can be controlled to rotate at the same speed and in opposite directions, and the floating amounts of the first protrusions of the two running mechanisms can be controlled to be the same, so that the force-applying members of the two running mechanisms exert the same local pressure on the disc brushes, allowing the surface cleaning device to move in a straight line to the target location. When the surface cleaning device encounters an obstacle and needs to bypass the obstacle, the disc brushes of the two running mechanisms on the surface cleaning device can be controlled to rotate at different speeds and in opposite directions, and the floating amounts of the first protrusions of the two running mechanisms can be controlled to be different, so that the force-applying members of the two running mechanisms exert different local pressure on the disc brushes, allowing the surface cleaning device to turn.

[0150] The following describes the walking mechanism and surface cleaning device provided by the third embodiment of the present invention in conjunction with specific application scenarios:

[0151] Application Scenario 2:

[0152] A surface cleaning device wipes a window with a rag on a disc brush. When the surface cleaning device needs to move to a target location for wiping, the disc brushes of the two running mechanisms on the surface cleaning device can be controlled to rotate at the same speed and in opposite directions. The magnetic polarity or magnitude of the first and second magnetic members of the two running mechanisms is controlled to make the magnetic force between the first and second magnetic members of the two running mechanisms the same. The local pressure exerted by the force-applying members of the two running mechanisms on the disc brushes is controlled to be the same, so that the surface cleaning device moves in a straight line to the target location. When the surface cleaning device encounters an obstacle and needs to bypass the obstacle, the disc brushes of the two running mechanisms on the surface cleaning device can be controlled to rotate at different speeds and in opposite directions. The magnetic polarity or magnitude of the first and second magnetic members of the two running mechanisms is controlled to make the magnetic force between the first and second magnetic members of the two running mechanisms different. The local pressure exerted by the force-applying members of the two running mechanisms on the disc brushes is controlled to be different, so that the surface cleaning device can turn.

[0153] The following describes the walking mechanism and surface cleaning device provided by the fourth embodiment of the present invention in conjunction with specific application scenarios:

[0154] Application scenario 3:

[0155] A surface cleaning device cleans a window with a disc brush attached to the window and a rag on the disc brush wiping the window. When the surface cleaning device needs to move to a target location for cleaning, the disc brushes of two running mechanisms on the surface cleaning device can be controlled to rotate at the same speed and in opposite directions, and the air pressure of the force-applying members of the two running mechanisms can be controlled so that the air pressure or extension amount of the force-applying members of the two running mechanisms when acting on a local area is the same, so that the local pressure exerted by the force-applying members of the two running mechanisms on the disc brushes is controlled to be the same, so that the surface cleaning device moves in a straight line to the target location. When the surface cleaning device encounters an obstacle and needs to bypass the obstacle, the disc brushes of the two running mechanisms on the surface cleaning device can be controlled to rotate at different speeds and in opposite directions, and the air pressure or extension amount of the force-applying members of the two running mechanisms when acting on a local area is controlled to be different, so that the local pressure exerted by the force-applying members of the two running mechanisms on the disc brushes is controlled to be different, so that the surface cleaning device can turn.

[0156] It should be noted that when the surface cleaning device is working on the ground, the disc brush does not need to be adsorbed on the ground, and the rag on the disc brush works. The principle of the walking mechanism is the same as the principle of the surface cleaning device working on the window described above, and will not be repeated here.

[0157] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A walking mechanism, characterized in that: include: base; a disc brush rotatably disposed on the bottom of the base, the disc brush being used to contact the surface to be cleaned; a force applying member, arranged on the disc brush; During the rotation of the disc brush, under the action of the force-applying member, a portion of the disc brush forms a force-applying portion, and the contact pressure between the force-applying portion and the surface to be cleaned increases, wherein the portion is a portion of the disc brush that is opposite to a preset position on the base; The force-applying members include a plurality of members, and a driving member is provided on the surface of the base facing the disc brush. The driving member is located at a preset position. During the rotation of the disc brush, the plurality of force-applying members move in sequence to positions relative to the preset positions on the base, so that the plurality of force-applying members can sequentially increase the contact pressure between the force-applying portion and the surface to be cleaned, so that the walking mechanism can move in a straight line.

2. The walking mechanism according to claim 1, characterized in that: The driving member is located on the base and close to one side edge of the disc brush.

3. The walking mechanism according to claim 1, characterized in that: The plurality of force applying members are evenly distributed around the rotation axis of the base.

4. The walking mechanism according to any one of claims 1 to 3, characterized in that: The force-applying member is a first protrusion formed on the disc brush, and the driving member is a second protrusion formed on the base. During the rotation of the disc brush, the first protrusion and the second protrusion abut against each other to increase the contact pressure between the force-applying part and the surface to be cleaned.

5. The traveling mechanism according to claim 4, characterized in that: The first protrusion is arranged in the disc brush in a floating manner along an up-down direction.

6. The traveling mechanism according to claim 4, characterized in that: The first protrusion and the second protrusion are in point contact.

7. The traveling mechanism according to claim 4, characterized in that: The second protrusion is arc-shaped, and the center of the second protrusion coincides with the center of the rotation axis of the base.

8. The traveling mechanism according to claim 4, characterized in that: The height of the second protrusion gradually decreases from the middle to both ends.

9. The walking mechanism according to any one of claims 1 to 3, characterized in that: The force applying member is a first magnetic member, the driving member is a second magnetic member, and the relative state between the first magnetic member and the second magnetic member at least includes a repulsive state.

10. The traveling mechanism according to claim 9, characterized in that: The magnetic poles of the first magnetic member and / or the second magnetic member are adjustable; And / or, the magnetic force of the first magnetic member and / or the second magnetic member is adjustable.

11. The traveling mechanism according to claim 9, characterized in that: The force applying member has a first working position and a second position. When the force applying member is in the first working position, the force applying member presses against the surface to be cleaned; When the force applying member is in the second working position, the force applying member is separated from the surface to be cleaned.

12. The traveling mechanism according to claim 9, characterized in that: The disc brush is provided with a plurality of spring pieces, the top of each spring piece is correspondingly provided with a first magnetic component, and the bottom of each spring piece is used to contact the surface to be cleaned.

13. The traveling mechanism according to claim 1, characterized in that: The force-applying member is located inside the disc brush, and multiple force-applying members are evenly dispersed in the disc brush with the rotation axis of the base as the center. A control device is also provided in the disc brush, and the control device is connected to the force-applying member to control the force-applying member to apply pressure to the surface to be cleaned.

14. The traveling mechanism according to claim 13, characterized in that: The force applying member includes an air bag, and the control device is used to adjust the air pressure in the air bag to adjust the pressure applied by the force applying part to the surface to be cleaned.

15. The traveling mechanism according to claim 13, characterized in that: The force applying member comprises: a fixing portion, fixed in the disc brush; The movable part is slidably connected to the fixed part, and the control device is used to control the extension amount of the movable part relative to the fixed part to adjust the pressure applied by the force-applying part to the surface to be cleaned.

16. The traveling mechanism according to claim 15, characterized in that: The force applying member is a cylinder, and correspondingly, the fixed part is a cylinder body, and the movable part is a cylinder piston.

17. A surface cleaning device, characterized in that It includes a body and a walking mechanism, wherein the walking mechanism includes: a base and two disc brushes; Each of the disc brushes is rotatably disposed on the bottom of the base, and the disc brush is used to contact the surface to be cleaned; A force applying member is provided on both of the disc brushes; During the rotation of each disc brush, under the action of the force-applying member, a force-applying portion is formed on a portion of the disc brush, and the contact pressure between the force-applying portion and the surface to be cleaned increases, wherein the portion is a portion of the disc brush that is opposite to a preset position on the base; The force-applying members include a plurality of members, and a driving member is provided on the surface of the base facing the disc brush. The driving member is located at a preset position. During the rotation of the disc brush, the plurality of force-applying members move in sequence to positions relative to the preset positions on the base, so that the plurality of force-applying members can sequentially increase the contact pressure between the force-applying portion and the surface to be cleaned, so that the walking mechanism can move in a straight line.

18. The surface cleaning apparatus of claim 17, wherein: The force-applying member is a first protrusion formed on the disc brush, and the driving member is a second protrusion formed on the base. During the rotation of the disc brush, the first protrusion and the second protrusion abut against each other to increase the contact pressure between the force-applying part and the surface to be cleaned.

19. The surface cleaning apparatus of claim 17, wherein: The force applying member is a first magnetic member, the driving member is a second magnetic member, and the relative state between the first magnetic member and the second magnetic member at least includes a repulsive state.

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