Pressure regulating device and cleaning robot

Abstract

The application relates to the technical field of cleaning robots, and in particular to a pressure adjusting device and a cleaning robot. The pressure adjusting device comprises a mounting seat and a height adjusting assembly, the height adjusting assembly comprising a support frame, a lead screw, a sliding block active seat, a first elastic member, a sliding block passive seat and a connecting rod; the sliding block active seat is rotatably arranged on the lead screw and is in sliding connection with the support frame, the two ends of the first elastic member are connected with the sliding block active seat and the sliding block passive seat, one end of the connecting rod is in rotary connection with the sliding block passive seat, and the other end of the connecting rod is used for being in rotary connection with a cleaning assembly; wherein when the cleaning assembly is subjected to an upward force, the connecting rod drives the sliding block passive seat to move and compresses the first elastic member, so as to adjust the pressure of the cleaning assembly on the ground. Through the design of the height adjusting assembly, the problem that a conventional cleaning robot cannot clean according to the actual needs of the ground when facing complex scenes such as ground slope or height difference and the cleaning effect on the ground is not ideal is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning robots, and particularly relates to a pressure adjusting device and a cleaning robot. BACKGROUND

[0002] With the development of science and technology, as an intelligent cleaning device, a cleaning robot has been widely applied to multiple fields such as families, businesses and industries. In a family environment, the cleaning robot can efficiently complete a ground cleaning task, reduces manual intervention and greatly improves cleaning efficiency and convenience through autonomous navigation, obstacle avoidance and intelligent path planning.

[0003] When a cleaning assembly of a conventional cleaning robot performs ground cleaning, the cleaning assembly is usually in contact with the ground by self-weight or is caused to fall to a fixed height by a lifting assembly to be in contact with the ground. However, in the two modes, the distance between the cleaning assembly and the ground is fixed, and when facing a complex scene such as a slope or a height difference of the ground, the cleaning assembly cannot clean according to the actual needs of the ground, resulting in unnecessary power waste and an unsatisfactory cleaning effect on the ground. SUMMARY

[0004] The present application provides a pressure adjusting device and a cleaning robot to solve the problem that the distance between the cleaning assembly and the ground of a conventional cleaning robot is fixed, and when facing a complex scene such as a slope or a height difference of the ground, the cleaning assembly cannot clean according to the actual needs of the ground, resulting in unnecessary power waste and an unsatisfactory cleaning effect on the ground.

[0005] In a first aspect, the present application provides a pressure adjusting device, comprising:

[0006] a mounting seat;

[0007] a height adjusting assembly, the height adjusting assembly comprising a support frame, a lead screw, a sliding block active seat, a first elastic member, a sliding block passive seat and a connecting rod; the support frame is connected with the mounting seat, the lead screw is rotatably arranged on the support frame, the sliding block active seat is rotatably arranged on the lead screw and is in sliding connection with the support frame, the two ends of the first elastic member are respectively connected with the sliding block active seat and the sliding block passive seat, one end of the connecting rod is rotatably connected with the sliding block passive seat, and the other end of the connecting rod is used for rotatably connecting a cleaning assembly; when the lead screw rotates, the sliding block active seat and the sliding block passive seat are driven to move along the axis direction of the lead screw, and the connecting rod is driven to move upward or downward away from the one end of the sliding block active seat and the cleaning assembly;

[0008] When the cleaning assembly is subjected to an upward force, the connecting rod drives the sliding block passive seat to move and compresses the first elastic member to adjust the pressure of the cleaning assembly on the ground.

[0009] Optionally, a guide rail is arranged on the support frame, the guide rail extends along the axial direction of the screw rod, and the sliding block active seat and the sliding block passive seat are both arranged to slide on the guide rail.

[0010] Optionally, a shock absorber is further arranged between the sliding block active seat and the sliding block passive seat, two ends of the shock absorber are connected with the sliding block active seat and the sliding block passive seat respectively, and the first elastic member is sleeved on the shock absorber.

[0011] Optionally, a sliding block guide shaft is arranged between the sliding block passive seat and the support frame, and the sliding block passive seat can move along the axial direction of the sliding block guide shaft.

[0012] Optionally, the height adjusting assembly further comprises a second elastic member, the second elastic member is sleeved on the sliding block guide shaft, and two ends of the second elastic member are elastically abutted with the sliding block passive seat and the support frame respectively.

[0013] Optionally, the connecting rod has a first bending section and a second bending section, the first bending section and the second bending section are connected, the first bending section is rotationally connected with the sliding block passive seat, the second bending section is used for rotationally connecting the cleaning assembly, and the first bending section and the second bending section are arranged at an included angle.

[0014] Optionally, the pressure adjusting device further comprises a guide assembly, the guide assembly comprises two forward pull rods and two lateral pull rods, two ends of the two forward pull rods and the two lateral pull rods are connected with the mounting seat and the cleaning assembly respectively, and the two forward pull rods are located between the two lateral pull rods.

[0015] Optionally, the two ends of each forward pull rod and the two ends of each lateral pull rod are provided with an inner joint bearing.

[0016] Optionally, the screw rod is a reversible screw rod, the height adjusting assembly comprises two sliding block active seats, two first elastic members, two sliding block passive seats and two connecting rods, the two sliding block active seats are arranged to slide on opposite ends of the reversible screw rod respectively, and the movement directions of the two sliding block active seats are opposite, the two ends of one first elastic member are connected with one sliding block active seat and one sliding block passive seat respectively, one end of one connecting rod is rotationally connected with one sliding block passive seat, and the other end of the connecting rod is used for rotationally connecting the cleaning assembly.

[0017] In a second aspect, the application provides a cleaning robot, and the pressure adjusting device provided in the first aspect of the application.

[0018] Compared with the prior art, the above technical solution provided in the embodiments of the application has the following advantages:

[0019] The pressure regulating device of the present application realizes dynamic adjustment of the cleaning assembly and the ground pressure through the height adjusting assembly. Specifically, when the screw rod in the height adjusting assembly rotates, the sliding block active seat moves along the screw rod axis direction under the driving of the screw rod, and simultaneously drives the sliding block passive seat to move. Since the sliding block passive seat is connected with the connecting rod, and the other end of the connecting rod is connected with the cleaning assembly, the movement of the sliding block passive seat will make the cleaning assembly move up and down, so as to adjust the contact pressure of the cleaning assembly and the ground. When the cleaning robot passes through the ground slope or height difference, the cleaning assembly is subjected to upward force, the connecting rod will drive the sliding block passive seat to move, and then compress the first elastic member, so as to realize automatic adjustment of the pressure. The compression of the first elastic member can buffer this force, and ensure that the cleaning assembly maintains appropriate contact pressure with the ground. Through the dynamic adjustment function of the height adjusting assembly, the cleaning assembly can automatically adjust the contact pressure with the ground according to the actual height change of the ground, so as to maintain ideal cleaning effect under different terrain conditions. The buffering effect of the first elastic member can effectively reduce the impact of the cleaning assembly on the ground when subjected to upward force, and prolong the service life of the cleaning assembly. BRIEF DESCRIPTION OF DRAWINGS

[0020] The drawings incorporated into the specification and forming a part thereof, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0022] One or more embodiments are illustrated by way of example in the drawings that are for illustrative purposes only, and not for the purpose of limiting the embodiments, and elements having the same reference numerals in the drawings represent similar elements, unless otherwise specified, and the drawings do not constitute a proportional limitation.

[0023] Figure 1 Structure diagram of a pressure regulating device provided for the embodiments of the present application Figure 1 ;

[0024] Figure 2 Structure diagram of a pressure regulating device provided for the embodiments of the present application Figure 2 ;

[0025] Figure 3 Structure diagram of a pressure regulating device provided for the embodiments of the present application Figure 3 ;

[0026] Figure 4Structure diagram of height adjusting assembly provided by the embodiment of the present application Figure 1 ;

[0027] Figure 5 Structure diagram of height adjusting assembly provided by the embodiment of the present application Figure 2 ;

[0028] Figure 6 Structure diagram of connecting rod provided by the embodiment of the present application Figure 1 ;

[0029] Figure 7 Structure diagram of lateral pull rod provided by the embodiment of the present application Figure 1 ;

[0030] Figure 8 Structure diagram of forward pull rod provided by the embodiment of the present application Figure 1 .

[0031] Explanation of reference signs:

[0032] 1, mounting seat

[0033] 2, height adjusting assembly; 21, support frame; 22, screw rod; 22a, forward and reverse screw rod; 23, sliding block active seat; 24, first elastic member; 25, sliding block passive seat; 26, connecting rod; 27, shock absorber; 28, sliding block guide shaft; 29, second elastic member; 211, guide rail; 261, first bending section; 262, second bending section; 263, extension section

[0034] 3, guide assembly; 31, forward pull rod; 32, lateral pull rod; 33, inner joint bearing

[0035] 4, cleaning assembly

[0036] 5, driving member

[0037] 6, limit switch DETAILED DESCRIPTION

[0038] In order to make the purpose, technical scheme and advantages of the embodiments of the present application more clear, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0039] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present application. For the purpose of simplifying the present application, the components and arrangements of the specific examples are described. Of course, they are only examples and are not intended to limit the present application. In addition, the present application can repeatedly refer to reference numerals and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or arrangements being discussed.

[0040] For the purpose of description, spatial relative terms can be used herein to describe the relative position relationship or movement of one element or feature with respect to another element or feature as shown in the drawings, such as "internal", "external", "inner", "outer", "under", "below", "above", "front", "back", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the drawings is flipped over or the posture is changed or the movement state is changed, the directional indications will also change accordingly, for example: the element described as "under" or "below" another element or feature will be oriented as "above" or "above" another element or feature. Therefore, the example term "below" can include both the upper and lower positions. The device can be additionally oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein are interpreted accordingly.

[0041] In order to solve the problem that the distance between the cleaning assembly 4 of the conventional cleaning robot and the ground is fixed, when facing complex scenes such as slopes or height differences on the ground, the cleaning cannot be performed according to the actual needs of the ground, resulting in unnecessary power waste and unsatisfactory cleaning effect on the ground. The present application provides a pressure adjusting device and a cleaning robot, which realizes dynamic adjustment of the pressure between the cleaning assembly 4 and the ground through the height adjusting assembly 2.

[0042] Please refer to Figures 1 to 5The pressure adjusting device provided by the embodiment of the application comprises a mounting seat 1 and a height adjusting assembly 2. The height adjusting assembly 2 comprises a support frame 21, a lead screw 22, a sliding block driving seat 23, a first elastic member 24, a sliding block driven seat 25 and a connecting rod 26. The support frame 21 is connected with the mounting seat 1. The lead screw 22 is rotatably arranged on the support frame 21. The sliding block driving seat 23 is rotatably arranged on the lead screw 22 and is slidably connected with the support frame 21. The two ends of the first elastic member 24 are respectively connected with the sliding block driving seat 23 and the sliding block driven seat 25. One end of the connecting rod 26 is rotatably connected with the sliding block driven seat 25. The other end of the connecting rod 26 is used for rotatably connecting the cleaning assembly 4. When the lead screw 22 rotates, the sliding block driving seat 23 and the sliding block driven seat 25 can be driven to move along the axis direction of the lead screw 22, and the connecting rod 26 is driven to move away from the one end of the sliding block driving seat 23 and the cleaning assembly 4 upward or downward. When the cleaning assembly 4 is subjected to an upward force, the connecting rod 26 drives the sliding block driven seat 25 to move and compresses the first elastic member 24, so as to adjust the pressure of the cleaning assembly 4 on the ground.

[0043] In the embodiment, when the lead screw 22 in the height adjusting assembly 2 rotates, the sliding block driving seat 23 moves along the axis direction of the lead screw 22 under the driving of the lead screw 22, and drives the sliding block driven seat 25 to move along the axis direction of the lead screw 22. Since the sliding block driven seat 25 is rotatably connected with the connecting rod 26 through a hinge or a hole shaft, the other end of the connecting rod 26 is also rotatably connected with the cleaning assembly 4, so that the horizontal movement of the sliding block driven seat 25 can drive the cleaning assembly 4 to move up and down through the rotation of the connecting rod 26, thereby adjusting the initial contact pressure of the cleaning assembly 4 on the ground. When the cleaning robot passes through the ground slope or height difference, the cleaning assembly 4 is subjected to an upward force, and then the connecting rod 26 drives the sliding block driven seat 25 to move along the axis direction of the lead screw 22, and then the first elastic member 24 is compressed, so as to realize the automatic adjustment of the pressure. The compression of the first elastic member 24 can buffer the force, and ensure that the cleaning assembly 4 maintains appropriate contact pressure with the ground. Through the dynamic adjustment function of the height adjusting assembly 2, the cleaning assembly 4 can automatically adjust the contact pressure with the ground according to the actual height change of the ground, so that the ideal cleaning effect can be maintained under different terrain conditions. The buffering effect of the first elastic member 24 can effectively reduce the impact of the cleaning assembly 4 on the ground when subjected to the upward force, prolong the service life of the cleaning assembly 4, realize the saving of energy, and also ensure that the ground is effectively cleaned.

[0044] It should be noted that, in order to facilitate the rotation of the lead screw 22, a driving member 5 can be arranged at the bottom of the support frame 21. The driving member 5 drives the lead screw 22 to move through belt transmission or chain transmission, so as to accurately control the rotation amplitude of the lead screw 22 and the movement range of the sliding block driving seat 23 and other structures. The specific form of the driving member 5 is not limited.

[0045] Please refer to Figure 4 andFigure 5 In order to ensure that the sliding block active seat 23 moves along the axis direction of the lead screw 22 without rotating, and to ensure that the sliding block passive seat 25 can move along the axis direction of the lead screw 22, a guide rail 211 is arranged on the support frame 21, which extends along the axis direction of the lead screw 22, and the sliding block active seat 23 and the sliding block passive seat 25 are both slidingly arranged on the guide rail 211.

[0046] In an embodiment, in order to ensure that the sliding block active seat 23 and the sliding block passive seat 25 can move along the axis direction of the lead screw 22 without rotating, a guide rail 211 is arranged on the support frame 21. Specifically, the guide rail 211 extends along the axis direction of the lead screw 22, and the sliding block active seat 23 and the sliding block passive seat 25 are both slidingly arranged on the guide rail 211. This design allows the sliding block active seat 23 and the sliding block passive seat 25 to smoothly slide along the guide rail 211 under the drive of the lead screw 22 without rotating. For example, a linear ball guide rail 211 can be used, which has the characteristics of high precision and low friction, and can ensure that the sliding block moves smoothly and accurately. In addition, limiting devices can be arranged at both ends of the guide rail 211 to prevent the sliding block from derailing during movement. The arrangement of the guide rail 211 strictly limits the movement direction of the sliding block to the axis direction of the lead screw 22, avoiding the position deviation of the cleaning assembly 4 caused by the rotation of the sliding block. The high-precision design of the guide rail 211 can reduce friction during the movement of the sliding block, improve the response speed and reliability of the system. In addition, the arrangement of the limiting device further enhances the safety of the system, preventing the sliding block from derailing in extreme cases, thereby prolonging the service life of the equipment.

[0047] Please refer to Figure 4 and Figure 5 In order to ensure that the sliding block passive seat 25 can move more stably under the drive of the sliding block active seat 23, and to absorb the reaction force transmitted from the connecting rod 26, a shock absorber 27 is arranged between the sliding block active seat 23 and the sliding block passive seat 25, and the two ends of the shock absorber 27 are connected with the sliding block active seat 23 and the sliding block passive seat 25 respectively, and the first elastic member 24 is sleeved on the shock absorber 27.

[0048] In an embodiment, the two ends of the shock absorber 27 are connected with the sliding block active seat 23 and the sliding block passive seat 25 respectively, and the first elastic member 24 (such as a spring) is sleeved on the outside of the shock absorber 27. This structure design allows the shock absorber 27 to effectively absorb the impact force and vibration generated during movement, while the first elastic member 24 provides additional cushioning effect. For example, the shock absorber 27 can be a hydraulic shock absorber 27 or a pneumatic shock absorber 27, the hydraulic shock absorber 27 absorbs energy through the flow of hydraulic oil, and the pneumatic shock absorber 27 uses the compression and expansion of gas to achieve the damping effect. The first elastic member 24 can be a coil spring, and its elastic coefficient can be adjusted according to actual needs to achieve different cushioning effects.

[0049] The present application significantly improves the motion stability of the slider passive seat 25 by providing a shock absorber 27 between the slider active seat 23 and the slider passive seat 25, and effectively absorbs the reaction force transmitted from the connecting rod 26. The shock absorber 27 can effectively reduce the vibration and impact generated during the movement of the slider, thereby improving the stability and reliability of the entire system. For example, when the cleaning robot passes through uneven ground, the shock absorber 27 can effectively buffer the bumps of the ground, ensuring that the contact pressure of the cleaning assembly 4 with the ground remains stable. The first elastic member 24 is sleeved outside the shock absorber 27, further enhancing the buffering capacity of the system, so that the slider passive seat 25 can move smoothly when subjected to a larger reaction force, avoiding damage to the equipment due to instantaneous impact. This design not only improves the service life of the cleaning robot, but also improves the cleaning effect, so that it can maintain high cleaning performance in complex terrain.

[0050] Please refer to Figure 4 and Figure 5 In order to further stabilize the motion of the slider passive seat 25, a slider guide shaft 28 is provided between the slider passive seat 25 and the support frame 21, and the slider passive seat 25 can move in the axial direction of the slider guide shaft 28.

[0051] In this embodiment, the slider guide shaft 28 is fixed on the support frame 21, and its axial direction is consistent with the axis direction of the lead screw 22. The slider passive seat 25 cooperates with the slider guide shaft 28 through a guide hole or a guide slot, and can move smoothly in the axial direction of the slider guide shaft 28. For example, the slider guide shaft 28 can adopt a cylindrical optical axis, and the slider passive seat 25 is provided with a through hole matched with the optical axis. Through this structure, the slider passive seat 25 can maintain high linearity and stability when moving along the guide shaft. The surface of the slider guide shaft 28 can be precisely machined to reduce friction during movement and improve the operating efficiency of the system. By providing the slider guide shaft 28, the motion stability of the slider passive seat 25 is significantly improved. The slider guide shaft 28 provides a clear motion trajectory for the slider passive seat 25, ensuring that it moves smoothly in the predetermined direction and avoiding movement deviation caused by lateral force or vibration. During the operation of the cleaning robot, even if the ground is uneven or there are obstacles, the slider passive seat 25 can still move stably along the guide shaft, thereby ensuring that the contact pressure of the cleaning assembly 4 with the ground remains uniform. The use of the slider guide shaft 28 further enhances the rigidity of the system, reducing the shaking and noise during movement. This design not only improves the overall performance of the cleaning robot, but also prolongs the service life of the equipment and reduces maintenance costs, so that it can maintain high cleaning efficiency in various complex environments.

[0052] Please refer to Figure 4 and Figure 5, in order to prevent the sliding block passive seat 25 from colliding with the support frame 21, and further adjust the contact force between the entire cleaning assembly 4 and the ground, the height adjusting assembly 2 further comprises a second elastic member 29, which is sleeved on the sliding block guide shaft 28, and the two ends of the second elastic member 29 are in elastic abutment with the sliding block passive seat 25 and the support frame 21 respectively.

[0053] In an embodiment, the second elastic member 29 is sleeved on the sliding block guide shaft 28, and the two ends of the second elastic member 29 are in elastic abutment with the sliding block passive seat 25 and the support frame 21 respectively. The second elastic member 29 can be a spring or elastic rubber, with one end fixed on the sliding block passive seat 25 and the other end fixed on the support frame 21. When the sliding block passive seat 25 is subjected to external impact or reaches the limit position during movement, the second elastic member 29 can provide cushioning to prevent the sliding block passive seat 25 from colliding with the support frame 21. The second elastic member 29 can effectively absorb the impact force generated by the sliding block passive seat 25 during movement, preventing it from colliding with the support frame 21, thereby protecting the equipment from damage and prolonging its service life. At the same time, since the two ends of the sliding block passive seat 25 are in elastic abutment with the first elastic member 24 and the second elastic member 29 respectively, the cleaning robot can balance the forces at both ends of the sliding block passive seat 25 through the rotation of the driving member 5, further adjusting the contact force between the entire cleaning assembly 4 and the ground; for example, when the cleaning assembly 4 first contacts the ground, the first elastic member 24 and the second elastic member 29 are adjusted to exert force on the sliding block passive seat 25, so that the contact force between the cleaning assembly 4 and the ground is 0; when the cleaning robot passes through the steps or obstacles on the ground, the second elastic member 29 can buffer the impact caused by the sudden change in height, ensuring smooth transition of the cleaning assembly 4. The elastic abutment function of the second elastic member 29 further enhances the adaptability of the cleaning assembly 4 to complex terrain, enabling it to maintain stable cleaning performance under different ground conditions with different height differences and slopes. This design not only improves the reliability and durability of the cleaning robot, but also enhances its cleaning performance in complex environments, making it more suitable for various application scenarios such as homes, businesses and industries.

[0054] Please refer to Figures 4 to 6 In order to convert the horizontal axis movement of the sliding block passive seat 25 into adjustment in the height direction of the cleaning assembly 4, the connecting rod 26 has a first bending section 261 and a second bending section 262 connected together, the first bending section 261 is rotationally connected with the sliding block passive seat 25, and the second bending section 262 is used to rotationally connect the cleaning assembly 4, and the first bending section 261 and the second bending section 262 are arranged at an included angle.

[0055] In the embodiment, in order to convert the horizontal axis movement of the slider passive seat 25 into the height direction adjustment of the cleaning assembly 4, the application designs a special connecting rod 26 structure. Specifically, the connecting rod 26 includes a first bending section 261 and a second bending section 262, which are connected and arranged at an angle, generally an obtuse angle, and the angle range is between 100°-130°. The first bending section 261 is connected to the slider passive seat 25 by rotating connection, and the second bending section 262 is used for rotating connection with the cleaning assembly 4. This structure makes the horizontal movement of the slider passive seat 25 when the cleaning robot needs to adapt to the ground height change, through the bending design of the connecting rod 26, the horizontal movement can be converted into the adjustment of the cleaning assembly 4 in the height direction. For example, the movement of the second bending section 262 in the height direction is converted into the horizontal movement of the slider passive seat 25 through the first bending section 261, which is transmitted to the first elastic member 24, so that the cleaning assembly 4 can be raised or lowered accordingly, thereby realizing the adjustment in the height direction.

[0056] It should be noted that in order to prevent the thickness of the entire cleaning robot from being too large, the cleaning assembly 4 and the height adjustment assembly 2 are generally not at the same vertical height, and in order to ensure the normal use of the connecting rod 26, an extension section 263 is usually added between the first bending section 261 and the second bending section 262. The two ends of the extension section 263 are connected to the first bending section 261 and the second bending section 262 respectively. The extension section 263 can be generally provided as a rod-shaped structure perpendicular to the plane of the first bending section 261 and the second bending section 262, so as to better enhance the adaptability of the connecting rod 26.

[0057] Please refer to Figures 1 to 3 , Figure 7 and Figure 8 , since the cleaning assembly 4 may have a shaking problem under the adjustment of the height adjustment assembly 2, the pressure adjusting device further includes a guide assembly 3, the guide assembly 3 includes two forward pull rods 31 and two lateral pull rods 32, the two ends of the two forward pull rods 31 and the two lateral pull rods 32 are connected to the mounting seat 1 and the cleaning assembly 4 respectively, and the two forward pull rods 31 are located between the two lateral pull rods 32.

[0058] It should be noted that the two forward pull rods 31 are located between the two lateral pull rods 32, and the forward pull rods 31 mainly control the up-down movement amplitude of the cleaning assembly 4, while the lateral pull rods 32 are used to limit the movement range of the cleaning assembly 4 in the left-right direction, so as to ensure the stability of the cleaning assembly 4 during the height adjustment process. The two ends of the forward pull rod 31 are connected in a movable manner, and the up-down movement of the cleaning assembly 4 is controlled by adjusting the position of the pull rod; the lateral pull rod 32 is a rigid rod with a fixed length, and the left-right shaking of the cleaning assembly 4 is limited by the connecting points at both ends. This structure design enables the cleaning assembly 4 to move smoothly along the predetermined trajectory during the height adjustment process, avoiding the decline of cleaning effect or equipment damage caused by shaking. The application significantly improves the stability of the cleaning assembly 4 during the height adjustment process by adding the guide assembly 3. The coordinated action of the forward pull rod 31 and the lateral pull rod 32 effectively limits the shaking of the cleaning assembly 4, ensuring its stability during up-down movement. For example, when the cleaning robot passes through uneven ground, the guide assembly 3 can prevent the cleaning assembly 4 from poor contact with the ground due to shaking, thereby ensuring the cleaning effect. This structure design improves the overall rigidity and reliability of the system, reducing the risk of equipment failure caused by unstable movement. The guide assembly 3 can also improve the service life of the cleaning assembly 4, as it reduces the additional wear caused by shaking.

[0059] Please refer to Figure 7 and Figure 8 , in order to ensure the independence and smoothness of movement in each direction, and to avoid movement interference, the two ends of each forward pull rod 31 and the two ends of each lateral pull rod 32 are provided with an inner joint bearing 33.

[0060] In an embodiment, the inner joint bearing 33 is a connecting piece that can allow relative rotation, and its internal structure includes a spherical joint and an outer ring, which can realize flexible movement in multiple directions. After the inner joint bearing 33 is installed at the two ends of the forward pull rod 31 and the lateral pull rod 32, the connection between the pull rod and the mounting seat 1 and the cleaning assembly 4 is no longer rigid, but can realize a certain angle of rotation. For example, when the cleaning assembly 4 needs to adapt to the unevenness of the ground during the height adjustment process, the inner joint bearing 33 allows the pull rod to rotate freely within a certain range, thereby avoiding movement interference caused by the rigid restriction of the pull rod. This design makes the movement of the cleaning assembly 4 in each direction, such as up-down, left-right, etc., more independent and smooth, improving the movement flexibility and adaptability of the entire system.

[0061] Please refer to Figures 1 to 5, considering that the entire cleaning assembly 4 is arranged in a cuboid shape, in order to ensure that the pressure of both ends of the entire cleaning assembly 4 can be adjusted in real time, the lead screw 22 is a reversible lead screw 22a, and the height adjusting assembly 2 comprises two sliding block active seats 23, two first elastic members 24, two sliding block passive seats 25, and two connecting rods 26; the two sliding block active seats 23 are respectively arranged at opposite ends of the reversible lead screw 22a and move in opposite directions; the two ends of a first elastic member 24 are respectively connected to a sliding block active seat 23 and a sliding block passive seat 25; one end of a connecting rod 26 is rotationally connected to a sliding block passive seat 25, and the other end is used to rotationally connect the cleaning assembly 4.

[0062] In this embodiment, in order to ensure that the pressure of both ends of the entire cleaning assembly 4 arranged in a cuboid shape can be adjusted in real time, the height adjusting assembly 2 adopts a reversible lead screw 22a design. Specifically, the two ends of the reversible lead screw 22a are respectively provided with two sliding block active seats 23, and the two sliding block active seats 23 move in opposite directions when the lead screw 22 rotates. Each sliding block active seat 23 is connected to a sliding block passive seat 25 through a first elastic member 24, and each sliding block passive seat 25 is rotationally connected to the corresponding end of the cleaning assembly 4 through a connecting rod 26. This design allows the two sliding block active seats 23 to drive the two sliding block passive seats 25 to move in opposite directions along the axis of the lead screw 22 when the lead screw 22 rotates, thereby adjusting the height of both ends of the cleaning assembly 4 through the connecting rod 26. For example, when the cleaning robot needs to adapt to the unevenness of the ground, the rotation of the lead screw 22 can make the two ends of the cleaning assembly 4 rise or fall according to the height of the ground, thereby ensuring that the cleaning assembly 4 maintains appropriate contact pressure with the ground.

[0063] This design can ensure that the pressure of both ends of the cleaning assembly 4 can be dynamically adjusted according to the actual situation when facing the height difference or slope of the ground, thereby improving the cleaning effect and adaptability. When the cleaning robot passes through the threshold or steps, the two ends of the cleaning assembly 4 can adjust the height respectively, avoiding incomplete cleaning or equipment damage caused by height difference. Through the buffering effect of the first elastic member 24, the stability and reliability of the system are further improved, and the impact force caused by uneven ground is reduced. In addition, this structural design allows the two ends of the cleaning assembly 4 to be independently adjusted, enhancing the adaptability of the cleaning robot in complex terrain and improving the overall performance and service life of the equipment.

[0064] It should be noted that a limit switch 6 can also be arranged in the reversible lead screw 22a. The limit switch 6 is used to calibrate the motor zero position after each power-on, to ensure the correspondence between the rotation number of the driving member 5 and the ground pressure, to determine the initial position of the reversible lead screw 22a and feedback to the driving member 5, to prevent abnormal rotation of the driving member 5 and poor cleaning effect.

[0065] In a second aspect, refer to Figures 1 to 3 The application provides a cleaning robot, and the pressure adjusting device is provided in the first aspect of the application.

[0066] The application provides a cleaning robot, and the pressure adjusting device is provided in the first aspect of the application. The pressure adjusting device realizes dynamic adjustment of the height and pressure of the cleaning assembly 4 under complex terrain through the cooperation of the height adjusting assembly 2 and the guide assembly 3. Specifically, the pressure adjusting device comprises the height adjusting assembly 2 and the guide assembly 3. The height adjusting assembly 2 is designed with a lead screw 22a, and two sliding block active seats 23 are arranged at the two ends of the lead screw 22. The two sliding block active seats 23 move in opposite directions when the lead screw 22 rotates. Each sliding block active seat 23 is connected with a sliding block passive seat 25 through a first elastic member 24, and each sliding block passive seat 25 is rotationally connected with the corresponding end of the cleaning assembly 4 through a connecting rod 26. This design enables the two ends of the cleaning assembly 4 to be adjusted in height according to the height of the ground, thereby ensuring that the cleaning assembly 4 maintains appropriate contact pressure with the ground. In addition, the guide assembly 3 comprises two forward pull rods 31 and two lateral pull rods 32, and the two ends of the two forward pull rods 31 and the two lateral pull rods 32 are connected with the mounting seat 1 and the cleaning assembly 4, respectively. The forward pull rods 31 control the up-down movement amplitude of the cleaning assembly 4, and the lateral pull rods 32 limit the movement range of the cleaning assembly 4 in the left-right direction, thereby ensuring that the cleaning assembly 4 remains stable during the height adjustment process. This structural design enables the cleaning robot to maintain high cleaning performance under various complex terrains, while reducing the maintenance cost of the equipment.

[0067] It should be understood that the terms used herein are for the purpose of describing particular example embodiments only and are not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order in which they are described, unless specifically identified as an order dependent step. It is also to be understood that additional or alternative steps can be employed.

[0068] Although the terms first, second, third, etc. can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example implementations.

[0069] The foregoing detailed description of the application has been presented for purposes of illustration and description. Various modifications and changes can be made to the embodiments in light of the above detailed description without departing from the spirit and intended scope of the application. It is to be understood that the application can be practiced without the following claims.

Claims

1. A pressure regulating device applied to a cleaning robot, characterized by, The utility model relates to a height-adjustable cleaning device, comprising: a mounting base (1); a height-adjusting assembly (2) comprising a support frame (21), a lead screw (22), a sliding block active seat (23), a first elastic member (24), a sliding block passive seat (25), and a connecting rod (26); the support frame (21) is connected to the mounting base (1), the lead screw (22) is rotatably arranged on the support frame (21), the sliding block active seat (23) is rotatably arranged on the lead screw (22) and is in sliding connection with the support frame (21), the two ends of the first elastic member (24) are respectively connected to the sliding block active seat (23) and the sliding block passive seat (25), one end of the connecting rod (26) is rotatably connected to the sliding block passive seat (25), and the other end of the connecting rod (26) is used for rotatably connecting a cleaning assembly (4); when the lead screw (22) rotates, the sliding block active seat (23) and the sliding block passive seat (25) can be driven to move along the axis direction of the lead screw (22) and drive the connecting rod (26) to move upward or downward away from the one end of the sliding block active seat (23) and the cleaning assembly (4); wherein, when the cleaning assembly (4) is subjected to an upward force, the connecting rod (26) drives the sliding block passive seat (25) to move and compresses the first elastic member (24), so as to adjust the pressure of the cleaning assembly (4) on the ground; the support frame (21) is provided with a guide rail (211) extending along the axis direction of the lead screw (22), and the sliding block active seat (23) and the sliding block passive seat (25) are both slidingly arranged on the guide rail (211); a sliding block guide shaft (28) is arranged between the sliding block passive seat (25) and the support frame (21), and the sliding block passive seat (25) can move along the axial direction of the sliding block guide shaft (28); the height-adjusting assembly (2) further comprises a second elastic member (29), the second elastic member (29) is sleeved on the sliding block guide shaft (28), and the two ends of the second elastic member (29) are in elastic abutment with the sliding block passive seat (25) and the support frame (21) respectively.

2. The pressure regulating device of claim 1, wherein, a shock absorber (27) is further arranged between the sliding block active seat (23) and the sliding block passive seat (25), the two ends of the shock absorber (27) are connected to the sliding block active seat (23) and the sliding block passive seat (25) respectively, and the first elastic member (24) is sleeved on the shock absorber (27).

3. Pressure regulating device according to any one of claims 1-2, characterized in that, the connecting rod (26) has a first bent section (261) and a second bent section (262), the first bent section (261) and the second bent section (262) are connected, the first bent section (261) is rotatably connected to the sliding block passive seat (25), the second bent section (262) is used for rotatably connecting the cleaning assembly (4), and the first bent section (261) and the second bent section (262) are arranged at an included angle.

4. Pressure regulating device according to any one of claims 1-2, characterized in that The pressure regulating device further comprises a guide assembly (3), the guide assembly (3) comprises two positive draw bars (31) and two lateral draw bars (32), two ends of the two positive draw bars (31) and the two lateral draw bars (32) are connected with the mounting seat (1) and the cleaning assembly (4) respectively, and the two positive draw bars (31) are located between the two lateral draw bars (32).

5. The pressure regulating device of claim 4, wherein, Two ends of each of the positive draw bars (31) and two ends of each of the lateral draw bars (32) are provided with inner joint bearings (33).

6. The pressure regulating device of any one of claims 1-2, wherein, The lead screw (22) is a positive and negative lead screw (22a), the height adjusting assembly (2) comprises two sliding block active seats (23), two first elastic members (24), two sliding block passive seats (25) and two connecting rods (26), the two sliding block active seats (23) are respectively arranged at opposite ends of the positive and negative lead screw (22a) in a sliding mode, and the movement directions thereof are opposite, two ends of the first elastic member (24) are connected with the sliding block active seat (23) and the sliding block passive seat (25) respectively, one end of the connecting rod (26) is rotationally connected with the sliding block passive seat (25), and the other end is used for rotationally connecting the cleaning assembly (4).

7. A cleaning robot, characterized in that, The pressure regulating device according to any one of claims 1-6.

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