Cleaning machine and walking mechanism thereof

Abstract

The utility model discloses a cleaning machine and a walking mechanism thereof, the cleaning machine comprises a machine body, and the walking mechanism comprises a walking disc arranged on the machine body; the cleaning disc is arranged on the walking disc in a sleeving mode, and the walking disc and the cleaning disc rotate on the to-be-cleaned face so as to drive the machine body to move on the to-be-cleaned face; a guide piece is connected between the walking disc and the cleaning disc, and the cleaning disc is arranged on the walking disc in a floating and sleeving mode in the direction facing or deviating from the to-be-cleaned face through the guide piece. According to the walking mechanism, the walking disc and the cleaning disc rotate on the to-be-cleaned face, friction force is generated between the walking mechanism and the to-be-cleaned face, then the machine body of the cleaning machine is driven to move on the to-be-cleaned face, and the cleaning disc cleans the to-be-cleaned face at the same time. According to the cleaning machine, the cleaning disc serves as a part of the walking mechanism, compared with the mode that the machine body is driven to move only through rotation of the walking disc, the radius of the disc body used for promoting the machine body to move is increased, the linear speed is increased, then the walking speed of the cleaning machine is increased, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to a cleaning machine and a walking mechanism thereof. Background Art

[0002] In recent years, the rapid popularization of window cleaning robots has greatly facilitated consumers' daily home life. When cleaning windows, the cleaning robot rotates the walking disc at the bottom of the body to drive the cleaning robot to move on the surface to be cleaned, and the cleaning disc rotates to clean the surface to be cleaned.

[0003] At present, the walking modes of cleaning robots generally include two types, one is a twisting walking mode with two walking discs, one static and the other moving, and the other is a straight walking mode with two walking discs moving at the same time. However, no matter which walking mode is adopted, the walking speed of the cleaning robot is relatively slow, which affects the cleaning efficiency. Utility Model Content

[0004] The main purpose of the utility model is to provide a walking mechanism, which is applied to a cleaning machine and aims to solve the technical problems of slow walking speed and low cleaning efficiency of the existing cleaning robot.

[0005] To achieve the above-mentioned purpose, the utility model proposes a walking mechanism, which is applied to a cleaning machine. The cleaning machine includes a machine body, wherein the walking mechanism includes:

[0006] A walking disc is arranged on the machine body;

[0007] A cleaning disc is sleeved on the walking disc, and the walking disc and the cleaning disc rotate on the surface to be cleaned to drive the machine body to move on the surface to be cleaned;

[0008] A guide member is connected between the walking disc and the cleaning disc, and the cleaning disc can be floatably sleeved on the walking disc in a direction toward or away from the surface to be cleaned through the guide member.

[0009] In some embodiments, the cleaning disc is connected to the walking disc, or the cleaning disc is connected to the machine body;

[0010] The cleaning disc rotates synchronously with the traveling disc on the surface to be cleaned.

[0011] In some embodiments, the guide member includes at least one of a columnar guide member and a spherical guide member.

[0012] In some embodiments, there are a plurality of guide members, and the plurality of guide members are arranged at intervals in the circumferential direction of at least one of the walking disc and the cleaning disc.

[0013] In some embodiments, a guide groove is provided on the circumference of at least one of the walking disc and the cleaning disc, and the guide member is embedded in the guide groove.

[0014] In some embodiments, when the guide member is a columnar guide member, at least one of the cleaning disc and the walking disc facing each other is provided with a step, the guide member is arranged around the step, and the guide member can move toward or away from the surface to be cleaned, so that the cleaning disc can float in a direction toward or away from the surface to be cleaned;

[0015] When the guide member is a spherical guide member, the guide member is embedded in at least one of the disk walls of the cleaning disk and the walking disk facing each other, and the guide member can roll toward or away from the surface to be cleaned, so that the cleaning disk can float in a direction toward or away from the surface to be cleaned.

[0016] In some embodiments, a first hook portion is provided on the machine body, and a second hook portion is provided on the cleaning disc. The second hook portion is hooked with the first hook portion and a first floating space is formed between the second hook portion and the first hook portion, so that the cleaning disc can be floatably mounted on the machine body.

[0017] In some embodiments, a third hooking portion is provided on the walking disc, and a fourth hooking portion is provided on the cleaning disc. The fourth hooking portion is hooked with the third hooking portion and a second floating space is formed between the fourth hooking portion and the third hooking portion, so that the cleaning disc can be floatingly installed on the walking disc.

[0018] In some embodiments, the walking mechanism further comprises:

[0019] An elastic member is provided on the machine body and is used for applying an elastic force to the cleaning disc toward the surface to be cleaned.

[0020] The utility model also provides a cleaning machine, which includes a machine body and a walking mechanism as described above;

[0021] A negative pressure chamber for communicating with a negative pressure device is provided in the machine body, a first chamber communicating with the negative pressure chamber is provided on the walking disc, and a first closed space is formed between the negative pressure chamber, the first chamber, and the surface to be cleaned; a second chamber communicating with the negative pressure chamber is provided on the cleaning disc, and a second closed space is formed between the negative pressure chamber, the second chamber, and the surface to be cleaned;

[0022] When the second enclosed space is depressurized, the negative pressure of the first enclosed space is used to keep the cleaning machine adsorbed on the surface to be cleaned;

[0023] Alternatively, when the second enclosed space is depressurized, the sum of the remaining negative pressure of the second enclosed space and the negative pressure of the first enclosed space is used to keep the cleaning machine adsorbed on the surface to be cleaned.

[0024] The walking mechanism of the utility model generates friction between the walking disc and the cleaning disc on the surface to be cleaned, thereby driving the body of the cleaning machine to move on the surface to be cleaned, and the cleaning disc cleans the surface to be cleaned at the same time. The utility model uses the cleaning disc as part of the walking mechanism. Compared with only driving the body to move by the rotation of the walking disc, the radius of the disc used to drive the body to move is increased, so that the linear speed is increased, thereby increasing the walking speed of the cleaning machine, which helps to improve the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of a cleaning machine in one embodiment of the utility model;

[0026] Figure 2 An exploded view of a walking mechanism in one embodiment of the utility model;

[0027] Figure 3 This is a schematic diagram of the disassembled structure of the walking mechanism in one embodiment of the utility model;

[0028] Figure 4 This is an exploded view of a walking mechanism in another embodiment of the utility model;

[0029] Figure 5 This is an exploded view of a walking mechanism in another embodiment of the utility model;

[0030] Figure 6 for Figure 5 A cross-sectional schematic diagram of a walking mechanism in an embodiment;

[0031] Figure 7 It is a schematic diagram of the structure of a partially disassembled cleaning machine in another embodiment of the utility model;

[0032] Figure 8 This is a schematic diagram of the internal structure of a cleaning machine in another embodiment of the utility model;

[0033] Fig. 9 for Figure 8 The enlarged view of point A in the middle;

[0034] Fig.10 This is a structural schematic diagram of a walking mechanism in yet another embodiment of the present utility model;

[0035] Fig.11 The figure is an exploded view of a walking mechanism in yet another embodiment of the present utility model. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the scheme in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0039] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0040] When cleaning windows, the cleaning robot generally rotates the walking disc at the bottom of the body to drive the cleaning robot to move on the surface to be cleaned, and cleans the surface to be cleaned by the rotation of the cleaning disc. At present, there are generally two walking modes of cleaning robots, one is a twisting walking mode with two walking discs, one static and one moving, and the other is a linear walking mode with two walking discs moving at the same time. However, no matter which walking mode is adopted, the walking speed of the cleaning robot is relatively slow, which affects the cleaning efficiency.

[0041] Based on the above technical problems, refer to Figure 1The utility model proposes a walking mechanism 200, which is applied to a cleaning machine to speed up the walking speed of the cleaning machine and improve the cleaning efficiency of the cleaning machine. The cleaning machine involved in this embodiment is used to perform cleaning operations on the surface to be cleaned. According to the cleaning type, the cleaning machine can be a cleaning machine that needs to be adsorbed on the surface to be cleaned, such as a window cleaning machine, a wall cleaning machine, a ceiling cleaning machine, etc., or a cleaning machine that does not need to be adsorbed on the surface to be cleaned, such as a floor cleaning machine, etc. Correspondingly, the surface to be cleaned can be a door, a tile wall, a ceiling, a window surface, the ground, etc. The cleaning machine includes a body 100, and the shape of the body 100 can be a disc, an elliptical disc, etc., without limitation.

[0042] Reference Figures 1 to 6 The walking mechanism 200 includes a walking disc 210 and a cleaning disc 220. The walking disc 210 is arranged on the machine body 100, and the cleaning disc 220 is sleeved on the walking disc 210. The walking disc 210 and the cleaning disc 220 rotate on the surface to be cleaned to drive the machine body 100 to move on the surface to be cleaned. A guide member 10 is connected between the walking disc 210 and the cleaning disc 220. The cleaning disc 220 can be floatably sleeved on the walking disc 210 in a direction toward or away from the surface to be cleaned through the guide member 10. Specifically, the walking mechanism 200 is located on the side of the machine body 100 facing the surface to be cleaned, and the cleaning disc 220 is sleeved on the walking disc 210, with the walking disc 210 inside and the cleaning disc 220 outside. The disc radius of the cleaning disc 220 is greater than the disc radius of the walking disc 210. Further, based on the linear velocity calculation formula V=ωr, when the angular velocity of the cleaning disc 220 and the traveling disc 210 is the same, since the disc radius of the cleaning disc 220 is greater than the disc radius of the traveling disc 210, the linear velocity of the cleaning disc 220 is greater than the linear velocity of the traveling disc 210. Optionally, the cleaning disc 220 includes a cleaning portion for directly cleaning the surface to be cleaned by the cleaning disc 220, or a cleaning auxiliary such as a cleaning portion or a disposable cleaning cloth is detachably mounted on the cleaning disc 220 to clean the surface to be cleaned by the cleaning auxiliary.

[0043] Optionally, the walking disc 210 and the cleaning disc 220 can be driven by the same power source or by different power sources. When the walking disc 210 and the cleaning disc 220 are driven by the same power source, the walking mechanism 200 may include a first driving mechanism, the first driving mechanism is arranged on the body 100, and the walking disc 210 is connected to the output end of the first driving mechanism, and can be driven by the first driving mechanism to rotate. Further, the cleaning disc 220 is connected to the walking disc 210 to be arranged to follow the walking disc 210, when the first driving mechanism drives the walking disc 210 to rotate, the cleaning disc 220 rotates with the walking disc 210, or the cleaning disc 220 is connected to the output end of the first driving mechanism to rotate under the drive of the first driving mechanism. When the walking disc 210 and the cleaning disc 220 are driven by different power sources, the walking mechanism 200 may include a first driving mechanism and a second driving mechanism, the first driving mechanism and the second driving mechanism are arranged on the body 100, the walking disc 210 is connected to the output end of the first driving mechanism, and can be rotated under the drive of the first driving mechanism, and the cleaning disc 220 is connected to the output end of the second driving mechanism, and can be rotated under the drive of the second driving mechanism. The structural composition of the first driving mechanism and the second driving mechanism involved may be the same or different, the first driving mechanism and the second driving mechanism may include a driving motor and a reduction assembly connected to the output shaft of the driving motor, the reduction assembly may be a gear reduction assembly, etc., and this embodiment does not limit this. In addition, the rotation speed relationship between the cleaning disc 220 and the walking disc 210 can be set according to actual conditions. Optionally, the rotation speed of the cleaning disc 220 is equal to the rotation speed of the walking disc 210.

[0044] Optionally, at least two of the walking discs 210 and the cleaning discs 220 are provided, and each cleaning disc 220 is correspondingly sleeved on one walking disc 210. For example, two walking discs 210 are provided, and two cleaning discs 220 are provided. Figure 1 As shown, one cleaning disc 220 is correspondingly sleeved on one walking disc 210, and the other cleaning disc 220 is correspondingly sleeved on the other walking disc 210. The two walking discs 210 and the cleaning discs 220 may rotate simultaneously, and the rotation direction of one set of walking discs 210 and the cleaning discs 220 is opposite to the rotation direction of the other set of walking discs 210 and the cleaning discs 220, so that the directions of the friction forces on the two sets of walking discs 210 and the cleaning discs 220 are consistent, and the cleaning machine moves under the action of the friction forces in the same direction, so that the two sets of walking discs 210 and the cleaning discs 220 move side by side, driving the machine body 100 to move in a motion trajectory that is approximately straight; one set of walking discs 210 and the cleaning discs 220 may be stationary, and the other set of walking discs 210 and the cleaning discs 220 may rotate, so as to drive the machine body 100 to rotate and reverse; the two sets of walking discs 210 and the cleaning discs 220 may rotate alternately, so as to drive the machine body 100 to move in a twisting form.

[0045] Among them, refer to Figures 2 to 6 The guide member 10 may be one or more. When there is one guide member 10, the guide member 10 may be arranged on the cleaning disc 220 or on the traveling disc 210; when there are multiple guide members 10, the multiple guide members 10 may be all arranged on the cleaning disc 220 or on the traveling disc 210, or a part of the guide members 10 may be arranged on the cleaning disc 220 and the other part may be arranged on the traveling disc 210. When the guide member 10 is arranged on the cleaning disc 220, the guide member 10 corresponds to the disc wall located on the inner side of the cleaning disc 220; when the guide member 10 is arranged on the traveling disc 210, the guide member 10 corresponds to the disc wall located on the outer side of the traveling disc 210. Under the guiding action of the guide member 10, the cleaning disc 220 may float toward or away from the direction of the surface to be cleaned. For example, the cleaning disc 220 is provided with a guide member 10 and the guide member 10 is in contact with the disc wall of the traveling disc 210. When the cleaning disc 220 floats, the guide member 10 provided on the cleaning disc 220 moves along the disc wall of the traveling disc 210 to guide the floating of the cleaning disc 220, so that the cleaning disc 220 floats in a direction toward or away from the surface to be cleaned. The cleaning disc 220 is a floating arrangement and is not fixed to the traveling disc 210 in the axial direction of the traveling disc 210. The floating direction of the cleaning disc 220 is a direction toward or away from the surface to be cleaned. When the cleaning machine is placed on the surface to be cleaned, the cleaning disc 220 can float based on the surface to be cleaned to adjust its position, achieve horizontal fit with the surface to be cleaned, and improve the tightness of the fit.

[0046] When the cleaning machine is working, the walking disc 210 and the cleaning disc 220 of the walking mechanism 200 contact the surface to be cleaned, and generate friction between the surface to be cleaned by rotating on the surface to be cleaned, so that the body 100 of the cleaning machine moves on the surface to be cleaned under the action of the friction. At the same time, the cleaning disc 220 also cleans the surface to be cleaned by rotating. In this embodiment, the cleaning disc 220 is used as a part of the walking mechanism 200. Compared with only rotating the walking disc 210 to drive the body 100 to move, the radius of the disc used to drive the body 100 to move is increased, so that the linear speed is increased, and then the walking speed of the cleaning machine is increased, which helps to improve the cleaning efficiency.

[0047] In some embodiments, the cleaning disc 220 is connected to the walking disc 210, or the cleaning disc 220 is connected to the machine body 100; the cleaning disc 220 rotates synchronously with the walking disc 210 on the surface to be cleaned. In the present embodiment, the cleaning disc 220 is connected to the walking disc 210 or the machine body 100, and is arranged to move with the walking disc 210. Specifically, the cleaning disc 220 can be relatively fixed with the walking disc 210 in the circumferential direction of the walking disc 210. When the walking disc 210 rotates, the cleaning disc 220 will be driven by the walking disc 210 to rotate synchronously with the walking disc 210, and the two have the same direction of rotation and the same speed. As described above, the walking disc 210 is driven to rotate by the first driving mechanism, and the cleaning disc 220 is connected to the walking disc 210 and rotates with the walking disc 210. Among them, the fixing method of the cleaning disc 220 and the walking disc 210 is described in the subsequent embodiments and will not be described in detail here. In this embodiment, the cleaning disc 220 is driven to rotate by the traveling disc 210 . No additional power source is required for the cleaning disc 220 , which can save manufacturing costs and reduce the space occupied by the machine body 100 .

[0048] In some embodiments, reference Figures 2 to 6 The guide member 10 includes at least one of a columnar guide member 11 and a spherical guide member 12. In this embodiment, the guide member 10 can be provided in various types, including a columnar guide member 11 and a spherical guide member 12. Among them, the columnar guide member 11 can be as follows: Figure 2 The semi-cylindrical shape shown or Figure 4 The cylindrical shape shown in the figure, etc., the spherical guide member 12 can be as Figure 5 The guide member 10 may be a spherical or elliptical spherical shape, etc., without limitation. In practical applications, when there is one guide member 10, the guide member 10 may be any one of a columnar guide member 11 and a spherical guide member 12; when there are multiple guide members 10, the multiple guide members 10 may be any one of a columnar guide member 11 and a spherical guide member 12 or a combination of the two. When the guide member 10 includes a columnar guide member 11, the columnar guide member 11 moves synchronously when the cleaning disc 220 floats to guide the cleaning disc 220 to move in a direction toward or away from the surface to be cleaned. When the guide member 10 includes a spherical guide member 12, the spherical guide member 12 rolls synchronously when the cleaning disc 220 floats to guide the cleaning disc 220 to move in a direction toward or away from the surface to be cleaned.

[0049] In some embodiments, reference Figures 2 to 5There are multiple guide members 10, and the multiple guide members 10 are arranged at intervals on the circumference of at least one of the walking disc 210 and the cleaning disc 220. In this embodiment, the multiple guide members 10 can be arranged at intervals on the circumference of the walking disc 210, or the multiple guide members 10 can be arranged at intervals on the circumference of the cleaning disc 220, or a part of the multiple guide members can be arranged at intervals on the circumference of the walking disc 210, and another part can be arranged at intervals on the circumference of the cleaning disc 220. Under the coordinated guiding action of the multiple guide members 10, the floating position of the cleaning disc 220 is more accurate and the precision is higher.

[0050] Optionally, the floating of the cleaning disc 220 includes movement along the axial direction of the walking disc 210. When the cleaning disc 220 moves, the plurality of guide members 10 all move toward the direction of the surface to be cleaned, or move away from the direction of the surface to be cleaned. Optionally, the floating of the cleaning disc 220 includes deflection and swing relative to the walking disc 210. When the cleaning disc 220 deflects and swings, according to the deflection direction of the cleaning disc 220, a portion of the guide members 10 corresponding to the lowered side of the cleaning disc 220 moves toward the direction of the surface to be cleaned, and another portion of the guide members 10 corresponding to the raised side of the cleaning disc 220 moves away from the direction of the surface to be cleaned.

[0051] In some embodiments, reference Figure 2 , Figures 4 to 6 , a guide groove 20 is provided on the circumference of at least one of the walking disc 210 and the cleaning disc 220, and the guide member 10 is embedded in the guide groove 20. In this embodiment, the guide groove 20 is provided corresponding to the guide member 10. When the cleaning disc 220 is provided with the guide member 10, the walking disc 210 is provided with the guide groove 20 corresponding to the guide member 10; when the walking disc 210 is provided with the guide member 10, the cleaning disc 220 is provided with the guide groove 20 correspondingly. Among them, the guide groove 20 is provided on the provided disc body along the axial direction of the disc body. When the cleaning disc 220 is sleeved on the walking disc 210, the guide member 10 is correspondingly embedded in the guide groove 20 to form a match with the guide groove 20. Under the cooperation of the guide member 10 and the guide groove 20, the cleaning disc 220 can be relatively fixed with the walking disc 210 in the circumferential direction of the walking disc 210 so as to rotate with the walking disc 210 when the walking disc 210 rotates, and can also float in the direction toward or away from the surface to be cleaned. When the cleaning plate 220 floats, the guide member 10 moves along the guide groove 20 accordingly to guide the floating of the cleaning plate 220 .

[0052] Alternatively, if Figure 6As shown, the guide groove 20 is an arc groove, and the guide groove 20 is extended in an arc shape around the center of the disc body. In this way, under the cooperation of the guide member 10 and the guide groove 20, the cleaning disc 220 can include both the movement along the axial direction of the walking disc 210 and the deflection swing relative to the walking disc 210 in the process of floating toward or away from the surface to be cleaned, so that the cleaning disc 220 floats more flexibly. Further, the central axis of the walking disc 210 is tilted relative to the central axis of the body, and the cleaning disc 220 is sleeved on the walking disc 210, and both are in an inclined state with the walking disc 210, and have a certain inclination angle relative to the surface to be cleaned. When the cleaning disc 220 contacts the surface to be cleaned, due to the cooperation of the guide member 10 and the guide groove 20 which is an arc groove, the cleaning disc 220 can deflect and swing relative to the walking disc 210 to adjust the angle, and is adjusted from the tilted state to a state perpendicular to the central axis of the body, thereby achieving a relatively horizontal fit with the surface to be cleaned.

[0053] In some embodiments, reference Figure 2 , Figure 4 and Figure 5 When the guide member 10 is a columnar guide member 11, a step T is provided on at least one of the disk walls of the cleaning disk 220 and the traveling disk 210 facing each other, and the guide member 10 is arranged around the step T. The guide member 10 can move toward or away from the surface to be cleaned, so that the cleaning disk 220 can float in a direction toward or away from the surface to be cleaned;

[0054] When the guide member 10 is a spherical guide member 12, the guide member 10 is embedded in at least one of the disk walls of the cleaning disk 220 and the walking disk 210 facing each other, and the guide member 10 can roll toward or away from the surface to be cleaned, so that the cleaning disk 220 can float in the direction toward or away from the surface to be cleaned.

[0055] In this embodiment, when the guide member 10 adopts a columnar guide member 11, a step T may be provided on the disk wall (i.e., the inner disk wall) of the cleaning disk 220 facing the walking disk 210, or a step T may be provided on the disk wall (i.e., the outer disk wall) of the walking disk 210 facing the cleaning disk 220, or a step T may be provided on both the disk wall of the cleaning disk 220 facing the walking disk 210 and the disk wall of the walking disk 210 facing the cleaning disk 220, wherein the step T is an annular step provided along the disk wall of the disk body. When the cleaning disk 220 is sleeved on the walking disk 210, the guide member 10 is correspondingly provided around the step T provided on the cleaning disk 220 and / or the walking disk 210. When the cleaning disk 220 floats in a direction toward or away from the surface to be cleaned, the guide member 10 moves toward or away from the surface to be cleaned to guide the floating of the cleaning disk 220.

[0056] When the guide member 10 adopts a spherical guide member 12, the guide member 10 can be embedded in the disk wall of the cleaning disk 220 facing the walking disk 210 (i.e., the inner disk wall), or embedded in the disk wall of the walking disk 210 facing the cleaning disk 220 (i.e., the outer disk wall), or the guide member 10 can be respectively embedded in the disk wall of the cleaning disk 220 facing the walking disk 210 and the disk wall of the walking disk 210 facing the cleaning disk 220. Optionally, the guide member 10 is installed on the disk body through a mounting shaft (not shown), the two ends of the mounting shaft are respectively connected to the disk body, and the guide member 10 is sleeved on the mounting shaft and can roll around the mounting shaft. When the cleaning disk 220 floats in the direction toward or away from the surface to be cleaned, the guide member 10 rolls toward or away from the surface to be cleaned to guide the floating of the cleaning disk 220.

[0057] In some embodiments, reference Figures 7 to 9 A first hooking portion 1 is provided on the machine body 100, and a second hooking portion 2 is provided on the cleaning disc 220. The second hooking portion 2 is hooked with the first hooking portion 1 and a first floating space is formed between the second hooking portion 2 and the first hooking portion 1, so that the cleaning disc 220 can be installed on the machine body 100 in a floating manner.

[0058] In this embodiment, the cleaning disc 220 is mounted on the body 100 by hooking the first hooking part 1 on the body 100 through its second hooking part 2, and a first floating space is formed between the second hooking part 2 and the first hooking part 1, so that the cleaning disc 220 can float on the body 100, and the first floating space can expand and contract with the floating of the cleaning disc 220. The first hooking part 1 can be located at the bottom of the body 100 and protrude from the bottom of the body 100. Optionally, there can be one first hooking part 1, and the first hooking part 1 is arranged in an annular shape with an annular hooking step, and there can be multiple second hooking parts 2, and the multiple second hooking parts 2 are arranged at intervals along the circumference of the cleaning disc 220 in an annular layout, and each second hooking part 2 has an arc hooking step. When the cleaning disc 220 is assembled on the machine body 100, the arc-shaped hooking steps of the plurality of second hooking parts 2 are relatively hooked with the annular hooking steps of the first hooking part 1, so that the cleaning disc 220 can be floated on the machine body 100. In addition, when the cleaning disc 220 rotates, the plurality of second hooking parts 2 rotate with it, and the first hooking part 1 will not interfere with the second hooking part 2 during the rotation process, thereby ensuring the normal rotation of the cleaning disc 220.

[0059] In some embodiments, reference Fig.10 and Fig.11 A third hooking portion 3 is provided on the walking disc 210, and a fourth hooking portion 4 is provided on the cleaning disc 220. The fourth hooking portion 4 is hooked with the third hooking portion 3 and a second floating space is formed between the fourth hooking portion 4 and the third hooking portion 3, so that the cleaning disc 220 can be floatingly installed on the walking disc 210.

[0060] In this embodiment, the cleaning disc 220 is mounted on the walking disc 210 by hooking the third hooking part 3 on the walking disc 210 through its fourth hooking part 4, and a second floating space is formed between the fourth hooking part 4 and the third hooking part 3, so that the cleaning disc 220 can float on the walking disc 210, and the second floating space can expand and contract with the floating of the cleaning disc 220. The third hooking part 3 can be located at the top of the walking disc 210 and protrude from the top of the walking disc 210. Optionally, the third hooking part 3 can be one, and the third hooking part 3 is arranged in an annular shape with an annular hooking step, and the fourth hooking part 4 can be multiple, and the multiple fourth hooking parts 4 are arranged at intervals along the circumference of the cleaning disc 220 in an annular layout, and each fourth hooking part 4 has an arc hooking step. When the cleaning disc 220 is assembled on the traveling disc 210, the arc-shaped hooking steps of the plurality of fourth hooking parts 4 are relatively hooked with the annular hooking steps of the third hooking parts 3, so that the cleaning disc 220 can be floated on the traveling disc 210. In addition, the cleaning disc 220 and the traveling disc 210 move with each other, and the fourth hooking parts 4 will not rotate relative to the third hooking parts 3, and the relative positions of the two in the circumferential direction will not change.

[0061] In some embodiments, reference Figures 7 to 9 , the walking mechanism 200 further includes:

[0062] The elastic member 230 is disposed on the body 100 and is used to apply an elastic force to the cleaning disc 220 toward the surface to be cleaned.

[0063] In this embodiment, the cleaning disc 220 is in close contact with the surface to be cleaned under the elastic force exerted by the elastic member 230, and can generate sufficient friction with the surface to be cleaned when rotating to promote the movement of the body 100. Among them, the types and settings of the elastic member 230 can be selected from a variety of options, and the number of the elastic member 230 can be set to one or more, without limitation. As an example, Figures 7 to 9As shown, the elastic member 230 is made of elastic cotton, which is one and annular. The bottom of the machine body 100 is provided with a receiving groove 30 arranged in an annular shape, and the top of the cleaning disc 220 is provided with a resisted portion 40. The elastic cotton is received in the receiving groove 30, and the resisted portion 40 of the cleaning disc 220 extends into the receiving groove 30. The elastic cotton elastically resists the resisted portion 40 of the cleaning disc 220. Among them, the resisted portion 40 can be provided with one and the resisted portion is annular, or the resisted portion 40 can be provided with multiple and multiple resisted portions 40 are arranged at intervals along the circumference of the cleaning disc 220. When the cleaning disc 220 rotates, the resisted portion 40 moves with the cleaning disc 220 to move along the receiving groove 30 accordingly. At the same time, the elastic cotton maintains an elastic resisting state against the resisted portion 40. Further, in combination with the floating setting of the cleaning plate 220 in the aforementioned embodiment, after the cleaning plate 220 contacts the surface to be cleaned to adaptively float and adjust its position, the elastic force applied by the elastic member 230 can be used to closely fit the surface to be cleaned.

[0064] The utility model also proposes a cleaning machine, referring to Figure 1 , Figure 8 and Fig. 9 , the cleaning machine comprises a body 100 and a walking mechanism 200 as described in the above embodiment;

[0065] A negative pressure chamber 101 for communicating with a negative pressure device is provided in the machine body 100, a first chamber 211 communicating with the negative pressure chamber 101 is provided on the walking plate 210, and a first closed space is formed between the negative pressure chamber 101, the first chamber 211, and the surface to be cleaned; a second chamber 221 communicating with the negative pressure chamber 101 is provided on the cleaning plate 220, and a second closed space is formed between the negative pressure chamber 101, the second chamber 221, and the surface to be cleaned;

[0066] When the second enclosed space is depressurized, the negative pressure of the first enclosed space is used to keep the cleaning machine adsorbed on the surface to be cleaned;

[0067] Alternatively, when the second enclosed space is depressurized, the sum of the remaining negative pressure of the second enclosed space and the negative pressure of the first enclosed space is used to keep the cleaning machine adsorbed on the surface to be cleaned.

[0068] The specific structure of the walking mechanism 200 refers to the above embodiment. Since the cleaning machine adopts all the technical solutions of all the above embodiments, it at least has all the technical effects brought by the technical solutions of the above embodiments, which will not be described one by one here. Optionally, the cleaning machine proposed in this embodiment is a window cleaning machine.

[0069] In this embodiment, when the cleaning machine is on the surface to be cleaned, the negative pressure chamber 101 of the machine body 100, the first chamber 211 of the walking disc 210 and the surface to be cleaned cooperate to form a first enclosed space, so that the machine body 100 is adsorbed on the surface to be cleaned; at the same time, the negative pressure chamber 101 of the machine body 100, the second chamber 221 of the cleaning disc 220 and the surface to be cleaned cooperate to form a second enclosed space. During the operation of the cleaning machine, when the machine body 100 moves on the surface to be cleaned and reaches the edge, the second chamber 221 is located outside the first chamber 211 and first contacts the edge of the surface to be cleaned, which will cause the second enclosed space to be depressurized due to exceeding the frameless edge of the surface to be cleaned or stepping onto the rubber strip of the framed edge, wherein, when the second enclosed space is depressurized, the negative pressure of the first enclosed space is used to keep the cleaning machine adsorbed on the surface to be cleaned, or when the second enclosed space is depressurized, the sum of the remaining negative pressure of the second enclosed space and the negative pressure of the first enclosed space is used to keep the cleaning machine adsorbed on the surface to be cleaned. Therefore, the cleaning machine will not fall off the surface to be cleaned due to insufficient adsorption force, thereby ensuring the safety of the cleaning machine.

[0070] Furthermore, the cleaning machine can be identified to have reached the edge of the surface to be cleaned based on the pressure relief in the second enclosed space, and then the cleaning machine controls the machine body 100 to stop moving or change direction or perform other operations to prevent the walking mechanism 200 from continuing to move in the original direction beyond the frameless edge of the surface to be cleaned or stepping onto the frame rubber strip of the framed edge, thereby avoiding the situation where the first enclosed space of the robot is depressurized or even falls, thereby improving the safety of the cleaning machine. Optionally, a negative pressure detection member is provided on the machine body 100, and the negative pressure detection member is located in the second enclosed space to detect the negative pressure value of the second enclosed space.

[0071] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A walking mechanism, applied to a cleaning machine, the cleaning machine comprising a machine body, characterized in that: The walking mechanism comprises: A walking disc is arranged on the machine body; A cleaning disc is sleeved on the walking disc, and the walking disc and the cleaning disc rotate on the surface to be cleaned to drive the machine body to move on the surface to be cleaned; A guide member is connected between the walking disc and the cleaning disc, and the cleaning disc can be floatably sleeved on the walking disc in a direction toward or away from the surface to be cleaned through the guide member.

2. The walking mechanism according to claim 1, characterized in that: The cleaning disc is connected to the walking disc, or the cleaning disc is connected to the machine body; The cleaning disc rotates synchronously with the traveling disc on the surface to be cleaned.

3. The walking mechanism according to claim 1, characterized in that: The guide member includes at least one of a columnar guide member and a spherical guide member.

4. The walking mechanism according to claim 1 or 3, characterized in that: There are a plurality of guide members, and the plurality of guide members are arranged at intervals in the circumferential direction of at least one of the walking disc and the cleaning disc.

5. The walking mechanism according to claim 1 or 3, characterized in that: A guide groove is provided on the circumference of at least one of the walking disc and the cleaning disc, and the guide member is embedded in the guide groove.

6. The traveling mechanism according to claim 3, characterized in that: When the guide member is a columnar guide member, at least one of the cleaning disc and the walking disc facing each other is provided with a step, the guide member is arranged around the step, and the guide member can move toward or away from the surface to be cleaned, so that the cleaning disc can float in the direction toward or away from the surface to be cleaned; When the guide member is a spherical guide member, the guide member is embedded in at least one of the disk walls of the cleaning disk and the walking disk facing each other, and the guide member can roll toward or away from the surface to be cleaned, so that the cleaning disk can float in a direction toward or away from the surface to be cleaned.

7. The walking mechanism according to claim 2, characterized in that: The machine body is provided with a first hooking part, and the cleaning disc is provided with a second hooking part, which is hooked with the first hooking part and forms a first floating space between the second hooking part and the first hooking part, so that the cleaning disc can be installed on the machine body in a floating manner.

8. The walking mechanism according to claim 2, characterized in that: The walking disc is provided with a third hooking portion, and the cleaning disc is provided with a fourth hooking portion, which is hooked with the third hooking portion and forms a second floating space with the third hooking portion, so that the cleaning disc can be floatingly mounted on the walking disc.

9. The walking mechanism according to claim 1, characterized in that: The walking mechanism also includes: An elastic member is provided on the machine body and is used for applying an elastic force to the cleaning disc toward the surface to be cleaned.

10. A cleaning machine, characterized in that: It comprises a body and a walking mechanism as claimed in any one of claims 1 to 9; A negative pressure chamber for communicating with a negative pressure device is provided in the machine body, a first chamber communicating with the negative pressure chamber is provided on the walking disc, and a first closed space is formed between the negative pressure chamber, the first chamber, and the surface to be cleaned; a second chamber communicating with the negative pressure chamber is provided on the cleaning disc, and a second closed space is formed between the negative pressure chamber, the second chamber, and the surface to be cleaned; When the second enclosed space is depressurized, the negative pressure of the first enclosed space is used to keep the cleaning machine adsorbed on the surface to be cleaned; Alternatively, when the second enclosed space is depressurized, the sum of the remaining negative pressure of the second enclosed space and the negative pressure of the first enclosed space is used to keep the cleaning machine adsorbed on the surface to be cleaned.

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