Walking device and cleaning apparatus

Abstract

The application relates to the technical field of intelligent equipment, and particularly provides a walking device and a cleaning device. The walking device is provided with a main support, a first suction disc and a second suction disc; wherein the first suction disc is arranged on one side of the main support, rotationally connected with the main support around a first direction, and slidingly connected with the main support along the first direction, so as to move between positions close to and away from the main support; the second suction disc is arranged on the same side of the main support as the first suction disc, rotationally connected with the main support around the first direction, and slidingly connected with the main support along the first direction, so as to move between positions close to and away from the main support. Through the scheme, the walking device can cross obstacles, and the activity range of the walking device is not limited by obstacles.

Description

Technical Field

[0001] This application belongs to the field of intelligent device technology, and in particular relates to a walking device and a cleaning device. Background Technology

[0002] With the continuous improvement of people's living standards and the rapid development of artificial intelligence technology, smart home products are being used more and more widely in people's lives. For example, automatic cleaning equipment frees people from tedious housework, greatly improving cleaning efficiency and people's quality of life.

[0003] However, the range of motion of automatic cleaning equipment is always limited by obstacles when performing tasks. For example, window cleaning machines can adhere to windows for automatic cleaning, but there are usually aluminum alloy window frames between windows, and these frames often protrude significantly, causing the window cleaner to only clean one window automatically. If multiple windows need to be cleaned, the user needs to manually reposition the machine, which affects cleaning efficiency and user experience. Utility Model Content

[0004] This application provides a walking device and a cleaning equipment, aiming to solve the technical problem that the range of motion of intelligent mobile products such as automatic cleaning equipment is limited by obstacles in the related art.

[0005] A first aspect of this application provides a walking device, including: a main support;

[0006] A first suction cup is disposed on one side of the main bracket, rotatably connected to the main bracket about a first direction, and slidably connected to the main bracket along the first direction, so as to move between a position close to the main bracket and a position far from the main bracket; and a second suction cup is disposed on the same side of the main bracket as the first suction cup, rotatably connected to the main bracket about the first direction, and slidably connected to the main bracket along the first direction, so as to move between a position close to the main bracket and a position far from the main bracket.

[0007] In some embodiments, the walking device further includes: a first lifting mechanism, one end of which is connected to the main support and the other end of which is rotatably connected to the first suction cup, the first lifting mechanism being used to drive the first suction cup to move up and down relative to the main support along the first direction; and a second lifting mechanism, one end of which is connected to the main support and the other end of which is rotatably connected to the second suction cup, the second lifting mechanism being used to drive the second suction cup to move up and down relative to the main support along the first direction.

[0008] In some embodiments, the first lifting mechanism includes a plurality of first parallel four-bar linkages, which are tractively connected, with one end of the linkage connected to the main support and the other end of the linkage rotatably connected to the first suction cup; and / or, the second lifting mechanism includes a plurality of second parallel four-bar linkages, which are tractively connected, with one end of the linkage connected to the main support and the other end of the linkage rotatably connected to the second suction cup.

[0009] In some embodiments, the first lifting mechanism further includes a first intermediate linkage mechanism, wherein two adjacent first parallel four-bar linkages are connected and the two adjacent first parallel four-bar linkages are drivenly connected through the first intermediate linkage mechanism; and / or, the second lifting mechanism further includes a second intermediate linkage mechanism, wherein two adjacent second parallel four-bar linkages are connected and the two adjacent second parallel four-bar linkages are drivenly connected through the second intermediate linkage mechanism.

[0010] In some embodiments, two adjacent first parallel four-bar linkages are connected and the transmission links of the two adjacent first parallel four-bar linkages are connected by a gear mechanism; and / or, two adjacent second parallel four-bar linkages are connected and the transmission links of the two adjacent second parallel four-bar linkages are connected by a gear mechanism.

[0011] In some embodiments, the first lifting mechanism further includes: a first lifting drive device installed at the end of the plurality of first parallel four-bar linkages, the output shaft of the first lifting drive device being connected to the crank of one of the first parallel four-bar linkages; and / or, the second lifting mechanism further includes: a second lifting drive device installed at the end of the plurality of second parallel four-bar linkages, the output shaft of the second lifting drive device being connected to the crank of one of the second parallel four-bar linkages.

[0012] In some embodiments, the walking device further includes: a first rotating mechanism, at least a portion of which is rotatably connected to the first suction cup and connected to the other end of the first lifting mechanism, for driving the first suction cup to rotate relative to the first lifting mechanism about the first direction; and a second rotating mechanism, at least a portion of which is rotatably connected to the second suction cup and connected to the other end of the second lifting mechanism, for driving the second suction cup to rotate relative to the second lifting mechanism about the first direction.

[0013] In some embodiments, the first rotating mechanism includes a first rotating drive device, a first transmission device, and a first rotating frame. The other end of the first lifting mechanism is connected to the first rotating frame. The first rotating drive device is mounted on the first rotating frame. The power input end of the first transmission device is drivenly connected to the first rotating drive device, and the power output end of the first transmission device is drivenly connected to the first suction cup. And / or, the second rotating mechanism includes a second rotating drive device, a second transmission device, and a second rotating frame. The second lifting mechanism is connected to the second rotating frame. The second rotating drive device is mounted on the second rotating frame. The power input end of the second transmission device is drivenly connected to the second rotating drive device, and the power output end of the second transmission device is drivenly connected to the second suction cup.

[0014] In some embodiments, the first suction cup includes a first suction cup body, a first fixed gear, and a first suction cup shaft connected to the first suction cup body. The first fixed gear is sleeved on the first suction cup shaft and fixedly connected to the first suction cup body. The first suction cup shaft is rotatably connected to the first rotating frame. The first transmission device is pulsatorically connected to the first fixed gear. And / or, the second suction cup includes a second suction cup body, a second fixed gear, and a second suction cup shaft connected to the second suction cup body. The second fixed gear is sleeved on the second suction cup shaft and fixedly connected to the second suction cup body. The second suction cup shaft is rotatably connected to the second rotating frame. The second transmission device is pulsatorically connected to the second fixed gear.

[0015] In some embodiments, the walking device further includes a sensing unit mounted on the first suction cup and the second suction cup, the sensing unit being used to detect the position of the first suction cup and / or the second suction cup relative to an obstacle.

[0016] In some embodiments, when the walking device walks on the working surface, the first suction cup and / or the second suction cup adhere to the working surface, wherein the working surface includes a glass surface and / or a wall surface.

[0017] A second aspect of this application provides a cleaning device, including a cleaning component and a walking device as described in any of the first aspects, wherein the cleaning component is connected to the main support of the walking device.

[0018] The above technical solutions can solve the problem of the walking device's range of motion being limited by obstacles, and increase the walking device's range of motion. Cleaning equipment using this walking device can expand the range of automatic cleaning. For example, it can enable window cleaning machines to automatically clean across windows, improving cleaning efficiency and user experience. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application;

[0020] Figure 2 A schematic diagram of the walking device provided in an embodiment of this application;

[0021] Figure 3 A schematic diagram of the structure of the first lifting mechanism provided in the embodiments of this application;

[0022] Figure 4 A schematic diagram of the structure of the first lifting mechanism provided in the embodiments of this application;

[0023] Figure 5 A schematic diagram of a transmission connection for a plurality of parallel four-bar linkages provided in an embodiment of this application;

[0024] Figure 6 A schematic diagram of a transmission connection for a plurality of parallel four-bar linkages provided in an embodiment of this application;

[0025] Figure 7 This is a possible structural schematic diagram of the walking device provided in an embodiment of this application;

[0026] Figure 8 A schematic diagram of the structure of the first lifting mechanism provided in the embodiments of this application;

[0027] Figures 9 to 11 This is a schematic diagram of the structure of the first rotating mechanism provided in an embodiment of this application.

[0028] Explanation of reference numerals in the attached figures:

[0029] 120 Walking device, 130 Cleaning assembly, 121 First suction cup, 122 Second suction cup, 123 Main support, 124 First lifting mechanism, 125 Second lifting mechanism, 126 First rotating mechanism, 127 Second rotating mechanism, 1241 First link, 1242 Second link, 1243 Third link, 1244 Fourth link, 1245 Fifth link, 1246 Sixth link, 1247 Seventh link, 1249 First lifting drive device, 1240 Third transmission device, 12445 Intermediate connecting block, 1247a First drive shaft, 1243a Second drive shaft, 1247b First drive shaft Drive gear, second transmission gear 1243b, 1248 first intermediate linkage mechanism, first sub-link 12811, second sub-link 12812, third sub-link 12813, 124a first parallel four-bar linkage group, 124b second parallel four-bar linkage group, 124c first shaft, 124d second shaft, 1261 first rotary drive device, 1262 first transmission device, 1263 first rotating frame, 1212 first suction cup body, 1213 first fixed gear, 1214 first suction cup shaft, 12621 first gear, 12622 second gear, 12623 intermediate gear. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the article or device that includes said element.

[0032] Automatic cleaning equipment belongs to the category of intelligent mobile cleaning products. During operation, it moves automatically across the work surface and cleans the areas it passes through. However, in related technologies, automatic cleaning equipment can only move on continuous, smooth surfaces. When an area is obstructed by an obstacle, the equipment cannot clean that area automatically. For example, a window cleaning machine is an automatic cleaning device that adheres to windows for cleaning. However, windows are usually separated by aluminum alloy frames, which often protrude significantly. This limits the machine's ability to clean only a single window. To clean multiple windows, the user needs to manually reposition the machine, impacting cleaning efficiency and user experience.

[0033] In view of the above-mentioned technical problems, this application provides a walking device, a walking control method and a cleaning equipment, so that the cleaning equipment (such as a window cleaning machine) can automatically cross obstacles during the working process and realize automatic cleaning of multiple areas, thereby improving cleaning efficiency and user experience.

[0034] Figure 1 This illustration shows a structural schematic diagram of a cleaning device provided in an embodiment of this application. The cleaning device can be a surface cleaning device, such as a window cleaning machine, a floor sweeper, etc. For ease of description, this application will use a window cleaning machine as an example. Those skilled in the art should understand that applying the cleaning device provided in this application to other surface cleaning fields is also within the scope of protection of this application. The window cleaning machine can clean surfaces. The surface can be a window surface, a curtain wall surface, or even a wall surface, such as a tiled wall surface, etc. Figure 1 The cleaning equipment of this application includes a walking device 120 and a cleaning component 130. The walking device 120 can walk on a working surface. The cleaning component 130 can be mounted on the walking device 120. As the walking device 120 moves on the working surface, the cleaning component 130 can clean the working surface. The working surface of the cleaning equipment provided in this application embodiment can be a vertical plane or an inclined plane. In an exemplary scenario, the cleaning equipment provided in this application embodiment can be a window cleaning machine, and the working surface can be a window or a wall. The cleaning equipment provided in this application embodiment can also be various other devices for automatically cleaning vertical or inclined planes, such as devices for cleaning cabinets or walls.

[0035] In some embodiments, the cleaning component 130 may include a cleaning cloth or a cleaning brush, or other products with cleaning capabilities. In some embodiments, the cleaning component 130 may also include a water dispensing component. The water dispensing component can spray water onto the surface to be cleaned to enhance cleaning effectiveness. In some embodiments, the cleaning component 130 may also include a scraper. The scraper can scrape away wastewater from the work surface, improving the cleaning effect. In some embodiments, the cleaning component may also include a suction component. The suction component can suck up dirt from the work surface, further improving the cleaning effect. The suction port of the suction component may be located within the scraper.

[0036] In some embodiments, the cleaning device may also include a housing ( Figure 1 (Not shown in the image). The housing can be fitted over the outside of the traveling device 120 to protect the electrical components inside the traveling device 120.

[0037] The walking device 120 can not only move on the work surface, but also cross obstacles. Taking a window as an example, the walking device 120 can not only move on the window, but also cross the window sill and cross between different windows, thereby enabling the cleaning equipment to clean different windows and avoiding the need for users to manually move the window cleaning machine.

[0038] Figure 2 A schematic diagram of a possible structure of the walking device 120 provided in an embodiment of this application is shown. (In conjunction with...) Figure 2 The walking device of this application includes a first suction cup 121, a second suction cup 122, and a main support 123. The first suction cup 121 is disposed on one side of the main support, rotatably connected to the main support 123 about a first direction, and slidably connected to the main support 123 along the first direction, so as to move between positions close to and away from the main support 123. The second suction cup 122 is disposed on the same side of the main support as the first suction cup, rotatably connected to the main support 123 about the first direction, and slidably connected to the main support 123 along the first direction, so as to move between positions close to and away from the main support 123. In one example, the first direction is a direction perpendicular to the working surface, such as... Figure 2 As indicated by the arrow in the diagram. Through the above structural design, the main support 123 can drive the first suction cup 121 and / or the second suction cup 122 to rotate around the first direction. Furthermore, the first suction cup 121 and / or the second suction cup 122 can also move along the first direction away from or towards the main support 123. This structure enables the walking device 120 to raise and lower the first suction cup 121 and the second suction cup 122 along the first direction and rotate around the first direction, thereby allowing the first suction cup 121 and / or the second suction cup 122 to overcome obstacles, meaning the walking device 120's range of motion is not limited by obstacles.

[0039] The first suction cup 121 and the second suction cup 122 are used to adhere the cleaning equipment to the work surface. As an example, the first suction cup 121 and the second suction cup 122 are vacuum suction cups; by extracting (or squeezing) the air between the suction cup and the work surface, the suction cup can be firmly adhered to the work surface. As an example, the first suction cup 121 and the second suction cup 122 are arranged side by side, and when the walking device 120 moves across the work surface, the first suction cup 121 and / or the second suction cup 122 adhere to the work surface.

[0040] In one possible embodiment provided in this application, the walking device 120 further includes a first lifting mechanism 124 and a second lifting mechanism 125. One end of the first lifting mechanism 124 is connected to the main support 123, and the other end is rotatably connected to the first suction cup 121. The first lifting mechanism 124 is used to drive the first suction cup 121 to move up and down relative to the main support 123 in a first direction. Similarly, one end of the second lifting mechanism 125 is connected to the main support 123, and the other end is rotatably connected to the second suction cup 122. The second lifting mechanism 125 is used to drive the second suction cup 122 to move up and down relative to the main support 123 in the first direction. In this design, the first suction cup 121 is connected to the main support 123 via the first lifting mechanism 124, and the second suction cup 122 is connected to the main support 123 via the second lifting mechanism 125. The first lifting mechanism 124 can drive the first suction cup 121 to move relative to the main support 123 in the first direction, and the second lifting mechanism 125 can drive the second suction cup 122 to move relative to the main support 123 in the first direction. When the walking device 120 travels on the working surface without needing to cross obstacles, the first lifting mechanism 124 and the second lifting mechanism 125 can be in a retracted state. At this time, the first suction cup 121 and the second suction cup 122 are close to the main support 123. When the walking device 120 moves to the edge of an obstacle, it needs to cross it. At this time, one of the first lifting mechanism 124 and the second lifting mechanism 125 can be raised, and the other can be retracted. Taking the second lifting mechanism 125 being raised and the first lifting mechanism 124 being retracted as an example, the main support 123 and the first suction cup 121 move away from the working surface along a first direction, that is, they are raised relative to the working surface along the first direction, so that the first suction cup 121 can be higher than the obstacle, thereby crossing the obstacle. Similarly, taking the first lifting mechanism 124 rising and the second lifting mechanism 125 retracting as an example, the first lifting mechanism 124 can drive the main support 123 and the second suction cup 122 to move away from the working surface along the first direction. Therefore, when the walking device 120 moves to the edge of the obstacle, the second suction cup 122 can be raised relative to the working surface by the first lifting mechanism 124 so that the second suction cup 122 can be higher than the obstacle and thus cross the obstacle.

[0041] This application does not limit the specific structural form of the first lifting mechanism 124 and the second lifting mechanism 125. The lifting mechanism involved in the embodiments of this application can be a multi-link structure, a lead screw and nut structure, or other structures with lifting functions, and this application does not impose any restrictions.

[0042] In one possible embodiment provided in this application, the first lifting mechanism 124 and the second lifting mechanism 125 can be lifting mechanisms composed of multiple parallel four-bar linkages. The first lifting mechanism 124 includes multiple first parallel four-bar linkages, which are connected in a transmission manner. One end of the connecting rod of each of the multiple first parallel four-bar linkages is connected to the main support 123, and the other end of the connecting rod is rotatably connected to the first suction cup 121.

[0043] In one possible implementation, the first lifting mechanism 124 comprises multiple first parallel four-bar linkages of identical dimensions, arranged symmetrically. These multiple first parallel four-bar linkages are connected end-to-end. This end-to-end connection can mean that a link in one first parallel four-bar linkage is fixedly connected to a link in the next adjacent first parallel four-bar linkage. For example, connecting two adjacent first parallel four-bar linkages involves fixing the first and last adjacent links of these two linkages together. Figure 3 This illustration shows a structural schematic diagram of a first lifting mechanism 124 provided in an embodiment of this application. Figure 3 In this example, the first lifting mechanism 124 includes two first parallel four-bar linkages. Combined with... Figure 3 The first lifting mechanism 124 includes a first parallel four-bar linkage 124-1 and a first parallel four-bar linkage 124-2. The first parallel four-bar linkage 124-1 includes a first link 1241, a second link 1242, a third link 1243, and a fourth link 1244. The first parallel four-bar linkage 124-2 may include a fifth link 1245, a sixth link 1246, a seventh link 1247, and an eighth link 1248. The fourth link 1244 is fixedly connected to the fifth link 1245. The first link 1241 can be connected to the main support 123 as one end of the first lifting mechanism 124, and the eighth link 1248 can be rotatably connected to the first suction cup 121 as the other end of the first lifting mechanism 124.

[0044] Similarly, the second lifting mechanism 125 includes multiple second parallel four-bar linkages. One end of each linkage is connected to the main support 123, and the other end is rotatably connected to the second suction cup 122. The following describes a possible structure of the lifting mechanism in this embodiment using the first lifting mechanism 124 as an example. In one possible implementation, the multiple second parallel four-bar linkages in the second lifting mechanism 125 are of the same size and symmetrically arranged. The multiple second parallel four-bar linkages are connected end-to-end. For the specific structure, please refer to the description of the first lifting mechanism 124; it will not be repeated here.

[0045] Figure 4 This is a schematic diagram of one possible structure for the first lifting mechanism 124. (Combined with...) Figure 4 The first lifting mechanism 124 further includes a first lifting drive device 1249, which is mounted on the end of one of the multiple first parallel four-bar linkages. It is understood that the end can specifically be any one side of the multiple first parallel four-bar linkages. For example, the first lifting drive device 1249 may be mounted on the first end of the multiple first parallel four-bar linkages, which is either the end of the first lifting mechanism 124 connected to the main support 123 or the end connected to the first suction cup 121; or, the first lifting drive device 1249 may be mounted on the other end of the multiple first parallel four-bar linkages. The first lifting drive device 1249 can also be mounted on any link of any of the first parallel four-bar linkages and used to drive the link rotatably connected to it.

[0046] The output shaft of the first lifting drive device 1249 is connected to the crank of one of the first parallel four-bar linkages. For example, the first lifting drive device 1249 can be connected to one of the sixth link 1246 and the seventh link 1247 to drive either the sixth link 1246 or the seventh link 1247. In this case, the link connected to the first lifting drive device 1249 is a crank. Therefore, the first parallel four-bar linkage in the first lifting mechanism 124 is driven by the first lifting drive device 1249, and when the first lifting drive device 1249 operates, it can drive the first parallel four-bar linkage to unfold or fold along the first direction. Based on this structural design, the first lifting mechanism 124 can drive the main support 123 to move along the first direction, that is, drive the main support 123 to rise or fall a certain height relative to the working surface along the first direction.

[0047] Similarly, the second lifting mechanism 125 also includes a second lifting drive device, which is installed at the end of a plurality of second parallel four-bar linkages (specifically, at the first or other end of the plurality of second parallel four-bar linkages). The output shaft of the second lifting drive device is connected to the crank of one of the second parallel four-bar linkages. The specific transmission method can be referred to the description of the first lifting mechanism 124, and for simplicity, it will not be repeated here. Based on this structure, the main support 123 can be moved along the first direction by the second lifting mechanism 125, providing a structural basis for achieving obstacle-crossing functionality.

[0048] refer to Figure 4 In one possible implementation, the first lifting drive device 1249 is driven to connect to the crank (taking the seventh connecting rod 1247 as an example in the figure) via a third transmission device 1240. The third transmission device 1240 is used to transmit torque between the first lifting drive device 1249 and the crank. In one example, the third transmission device 1240 is a worm gear mechanism. For example, the first lifting drive device 1249 is connected to the worm in the third transmission device 1240, and the worm in the third transmission device 1240 is connected to the crank. The power output by the first lifting drive device 1249 is transmitted to the crank sequentially through the worm and the worm. The rotation of the worm can drive the end of the crank connected to the worm to rotate, thereby causing the other end of the crank to directly or indirectly drive the first parallel four-link 124-1 to rotate, ultimately driving the main support 123 to move along the first direction. Based on the characteristics of the worm gear mechanism, the worm can drive the turbine to rotate, but the turbine cannot drive the worm to rotate. Therefore, by transmitting torque through the worm gear mechanism, the self-locking characteristic of the first lifting mechanism 124 can be achieved, thereby improving the reliability and safety of the mechanism.

[0049] In one possible implementation provided in this application, multiple first parallel four-bar linkages are connected by transmission. This application does not limit the transmission method between the multiple first parallel four-bar linkages.

[0050] In one possible implementation, multiple first parallel four-bar linkages are connected by gear transmission. Figure 5 A schematic diagram of a transmission connection between two first parallel four-bar linkages is shown. For example, in the first lifting mechanism 124, multiple first parallel four-bar linkages are connected, and the transmission links of two adjacent first parallel four-bar linkages are connected by a gear mechanism.

[0051] The following is combined Figure 5Taking the connection method of multiple first parallel four-bar linkages in the first lifting mechanism 124 as an example: the fourth link 1244 and the fifth link 1245 are fixedly connected by an intermediate connecting block 12445, and rotatably connected by a first transmission shaft 1247a to the intermediate connecting block 12445; the seventh link 1247 is fixedly connected to the first transmission shaft 1247a, and a first transmission gear 1247b is fixed on the first transmission shaft 1247a; the third link 1243 is rotatably connected to the intermediate connecting block 12445 through a second transmission shaft 1243a, and fixedly connected to the second transmission shaft 1243a, and a second transmission gear 1243b is fixed on the second transmission shaft 1243a. The second transmission gear 1243b meshes with the first transmission gear 1247b. Assuming the seventh link 1247 is the crank of the first parallel four-bar linkage 124-1, the first lifting drive device 1249 is connected to the seventh link 1247 via the third transmission device 1240. When the first lifting drive device 1249 transmits torque to the seventh link 1247, the seventh link 1247 then transmits torque to the third link 1243 via a gear mechanism, thus enabling the two first parallel four-bar linkages to unfold synchronously. Since the first lifting mechanism 124 and the second lifting mechanism 125 are connected to the main support 123, based on this structural design, when one first parallel four-bar linkage unfolds upward in the first direction, it can drive the adjacent first parallel four-bar linkage to unfold upward in the first direction via a gear mechanism. This allows the main support 123 (along with the second suction cup 122) to move away from the working surface in the first direction, i.e., to be lifted relative to the working surface in the first direction. Figure 7 As shown.

[0052] It is understood that the above example uses the seventh link 1247 and the third link 1243 as an example of being connected by gear transmission, but this application is not limited to this. In another possible implementation, the second link 1242 and the sixth link 1246 can also be connected by gear transmission mechanism.

[0053] The multiple second parallel four-bar linkages in the second lifting mechanism 125 can also be connected by gear transmission. For example, two adjacent second parallel four-bar linkages are connected and the transmission links of two adjacent second parallel four-bar linkages are connected by gear transmission. For specific connection methods, please refer to the description of the multiple first parallel four-bar linkages in the first lifting mechanism 124, which will not be repeated here.

[0054] In another possible implementation, multiple first parallel four-bar linkages are connected by a linkage mechanism. Figure 6A schematic diagram of another transmission connection between two first parallel four-bar linkages is shown. For example, the first lifting mechanism 124 also includes a first intermediate linkage 1281. For the multiple first parallel four-bar linkages in the first lifting mechanism 124, two adjacent first parallel four-bar linkages are connected and two adjacent first parallel four-bar linkages are transmissionally connected through the first intermediate linkage 1281.

[0055] The following is combined Figure 6 Taking the connection method of multiple first parallel four-bar linkages in the first lifting mechanism 124 as an example, the fourth link 1244 and the fifth link 1245 are fixedly connected through the intermediate connecting block 12445, the second link 1242 is rotatably connected to the intermediate connecting block 12445, the third link 1243 is rotatably connected to the intermediate connecting block 12445, the sixth link 1246 is rotatably connected to the intermediate connecting block 12445, and the seventh link 1247 is rotatably connected to the intermediate connecting block 12445. The first lifting mechanism 124 includes a first intermediate linkage mechanism 1281, which includes a first sub-link 12811, a second sub-link 12812, and a third sub-link 12813. One end of the first sub-link 12811 is rotatably connected to the intermediate connecting block 12445, and the other end is rotatably connected to the second sub-link 12812 and the third sub-link 12813. One end of the second sub-link 12812 is rotatably connected to the eighth link 1248, and the other end is rotatably connected to the first sub-link 12811 and the third sub-link 12813. One end of the third sub-link 12813 is rotatably connected to the first link 1241, and the other end is rotatably connected to the first sub-link 12811 and the second sub-link 12812. Assuming the seventh link 1247 is the crank of the first parallel four-bar linkage 124-1, the first lifting drive device 1249 is connected to the seventh link 1247 via the third transmission device 1240. When the first lifting drive device 1249 transmits torque to the seventh link 1247, the first parallel four-bar linkage 124-1 unfolds along the first direction. During the unfolding process, the first parallel four-bar linkage 124-1 drives the first parallel four-bar linkage 124-2 to unfold along the first direction via the first intermediate linkage 1281. Since the first lifting mechanism 124 is connected to the main support 123, based on this structural design, when one first parallel four-bar linkage unfolds upward along the first direction, it can drive the adjacent first parallel four-bar linkage to unfold upward along the first direction via the linkage mechanism. This allows the main support 123 (along with the second suction cup 122) to move away from the working surface in the first direction, i.e., to be lifted relative to the working surface in the first direction. Figure 7 As shown.

[0056] The multiple second parallel four-bar linkages in the second lifting mechanism 125 can also be connected by a linkage mechanism. For example, the second lifting mechanism 125 also includes a second intermediate linkage mechanism. Two adjacent second parallel four-bar linkages are connected and are connected by a second intermediate linkage mechanism. For specific connection methods, please refer to the description of the multiple first parallel four-bar linkages in the first lifting mechanism 124. It will not be repeated here.

[0057] In one possible implementation provided in this application embodiment, the first lifting mechanism 124 includes multiple parallel four-bar linkage groups, and each parallel four-bar linkage group includes multiple interconnected first parallel four-bar linkages. Figure 8 This diagram illustrates a structural schematic of two parallel four-bar linkages, combined with... Figure 8 The first lifting mechanism 124 includes a first parallel four-bar linkage group 124a and a second parallel four-bar linkage group 124b. The first parallel four-bar linkage group 124a and the second parallel four-bar linkage group 124b are arranged side-by-side perpendicular to the first direction, providing multi-point support for the main support 123. This design improves the reliability of the first lifting mechanism 124 and makes the lifting process of the main support 123 smoother. In some embodiments, two sets of parallel four-bar linkages are provided. Each of the two sets of parallel four-bar linkages can correspond to a first lifting drive device 1249, or they can share a single first lifting drive device 1249. The ends of the two sets of linkages are connected by a shaft. Figure 8 The ends of the first parallel four-bar linkage 124a and the second parallel four-bar linkage 124b are connected by a first shaft 124c and a second shaft 124d, which are rotatably connected to the main support 123. Connecting the two linkages via shafts improves the stability of the first lifting mechanism 124 and ensures that the two parallel four-bar linkages move at the same frequency when the first lifting mechanism 124 performs lifting actions, thus making the lifting process of the main support 123 smoother.

[0058] As can be seen from the above connection relationship, when the first lifting drive device 1249 is activated, it can drive multiple first parallel four-bar linkages to unfold or fold along the first direction. When the second lifting drive device is activated, it can drive multiple second parallel four-bar linkages to unfold or fold along the first direction.

[0059] Combination Figure 2The walking device in this embodiment further includes a first rotating mechanism 126 and a second rotating mechanism 127. The first rotating mechanism 126 is at least partially rotatably connected to the first suction cup 121 and connected to the other end of the first lifting mechanism 124, for driving the first suction cup 121 to rotate relative to the first lifting mechanism 124 about a first direction. At least part of the second rotating mechanism 127 is rotatably connected to the second suction cup 122 and connected to the other end of the second lifting mechanism 125, for driving the second suction cup 122 to rotate relative to the second lifting mechanism 125 about a first direction. Both the first lifting mechanism 124 and the second lifting mechanism 125 can drive the main support 123 to rotate.

[0060] The following is combined Figures 9 to 11 One possible structure of the first rotating mechanism 126 is described. (In conjunction with...) Figures 9 to 11 The first rotating mechanism 126 includes a first rotating drive device 1261, a first transmission device 1262, and a first rotating frame 1263. The other end of the first lifting mechanism 124 is connected to the first rotating frame 1263. The first rotating drive device 1261 is mounted on the first rotating frame 1263. The power input end of the first transmission device 1262 is connected to the first rotating drive device 1261, and the power output end of the first transmission device 1262 is connected to the first suction cup. The first rotating drive device 1261 can drive the first rotating frame 1263 to rotate relative to the first suction cup 121 in a first direction via the first transmission device 1262, thereby driving the first lifting mechanism 124 to rotate relative to the first suction cup 121 in a first direction.

[0061] Combination Figure 10 and Figure 11 The first suction cup 121 includes a first suction cup body 1212, a first fixed gear 1213, and a first suction cup shaft 1214 connected to the first suction cup body 1212; the first fixed gear 1213 is sleeved on the first suction cup shaft 1214 and fixedly connected to the first suction cup body 1212. The first suction cup shaft 1214 is rotatably connected to the first rotating frame 1263, and the first transmission device 1262 is drively connected to the first fixed gear 1213.

[0062] When the first rotary drive device 1261 is activated, it can drive the first lifting mechanism 124 to rotate relative to the first suction cup 121 in a first direction via the first transmission device 1262. A possible specific structure is described below: In one implementation, the first rotating frame 1263 is sleeved on the shaft of the first suction cup shaft 1214 and can rotate around the first suction cup shaft 1214. The first transmission device 1262 is a gear mechanism, specifically including a first gear 12621 and a second gear 12622. The first gear 12621 serves as the power input end of the first transmission device 1262 and is connected to the first rotary drive device 1261. The second gear serves as the power output end of the first transmission device 1262 and is connected to the first fixed gear 1213. The first shaft of the first gear 12621 passes through the first rotating frame 1263 and is rotatably connected to it. The first gear 12621 and the second gear 12622 are connected in a driving relationship. The first gear 12621 and the second gear 12622 can be directly connected or connected via an intermediate gear section 12623. In this structure, when the first suction cup body 1212 is attached to the working surface, the position of the first fixed gear 1213 is also fixed. At this time, the first rotary drive device 1261 transmits torque to the second gear 12622, and the second gear 12622 transmits torque to the first gear 12621 via the intermediate gear section 12623. The first gear 12621 has a tendency to rotate around a first axis. Since the first gear 12621 is connected in a driving relationship with the first fixed gear 1213, and the position of the first fixed gear 1213 is fixed, the first gear 12621 will rotate relative to the first fixed gear 1213 in a first direction. Since the first shaft of the first gear 12621 passes through the first rotating frame 1263, and the first rotating frame 1263 is rotatably connected to the first suction cup 121, when the first gear 12621 rotates relative to the first fixed gear 1213 in the first direction, the first gear 12621 will drive the first rotating frame 1263 to rotate relative to the first fixed gear 1213 (i.e., relative to the first suction cup 121) in the first direction via the first shaft. Since one end of the first lifting mechanism 124 is connected to the first rotating frame 1263, the first lifting mechanism 124 rotates relative to the first suction cup 121 in the first direction. In addition, one end of the first lifting mechanism 124 is connected to the main support 123, and one end of the second lifting mechanism 125 is connected to the main support 123, and the other end is rotatably connected to the second suction cup 122. Therefore, when the first rotating drive device 1261 is activated, it will also drive the main support 123, the second lifting mechanism 125, and the second suction cup 122 to rotate relative to the first suction cup 121 in the first direction.

[0063] Similarly, the second rotating mechanism includes a second rotating drive device, a second transmission device, and a second rotating frame. The second lifting mechanism is connected to the second rotating frame. The second rotating drive device is mounted on the second rotating frame. The power input end of the second transmission device is connected to the second rotating drive device, and the power output end of the second transmission device is connected to the second suction cup. In one possible implementation, the second suction cup includes a second suction cup body, a second fixed gear, and a second suction cup shaft connected to the second suction cup body. The second fixed gear is sleeved on the second suction cup shaft and fixedly connected to the second suction cup body. The second suction cup shaft is rotatably connected to the second rotating frame, and the second transmission device is connected to the second fixed gear. Based on the above structure, when the second rotating drive device operates, it can drive the second lifting mechanism 125 to rotate relative to the second suction cup 122 around a first direction via the second transmission device. For the specific structure, please refer to the description of the first rotating mechanism 126, which will not be repeated here.

[0064] In one possible implementation provided in this application, the walking device 120 further includes a sensing unit mounted on the first suction cup 121 and the second suction cup 122. This sensing unit detects the position of the first suction cup 121 and / or the second suction cup 122 relative to an obstacle. Based on this sensing unit, when the distance between the first suction cup 121 or the second suction cup 122 and the obstacle is less than a preset value, the walking device 120, according to the structure provided in this embodiment, will allow the first suction cup 121 and / or the second suction cup 122 to traverse the obstacle.

[0065] The above provides a structural design scheme for a walking device. In the above scheme, the walking device 120 includes two suction cups, namely a first suction cup 121 and a second suction cup 122. These two suction cups have an adsorption function, used to adsorb the walking device 120 onto the working surface. In one possible embodiment, the walking device 120 also includes two lifting mechanisms, namely a first lifting mechanism 124 and a second lifting mechanism 125. These two lifting mechanisms are respectively connected to the main support 123 and can drive the main support 123 to move along a first direction. In one possible implementation provided in this application embodiment, the first lifting mechanism 124 and the second lifting mechanism 125 can both be independently controlled, that is, the first lifting mechanism 124 and the second lifting mechanism 125 both have independent opening and closing functions. This design allows the walking device 120 to deploy only one of the lifting mechanisms during operation, without deploying the other lifting mechanism. In one possible embodiment, the walking device further includes two rotating mechanisms, namely a first rotating mechanism 126 and a second rotating mechanism 127. These two rotating mechanisms can drive the walking device 120 to rotate. For example, the first rotating mechanism 126 or the second rotating mechanism 127 can drive the first lifting mechanism 124, the main support 123, and the second lifting mechanism 125 in the walking device to rotate relative to the first suction cup 121 around a first direction. In one possible implementation provided in this application embodiment, the first rotating mechanism 126 and the second rotating mechanism 127 can both be controlled independently, that is, the first rotating mechanism 126 and the second rotating mechanism 127 each have independent opening and closing functions. This design allows the walking device to rotate only one of the rotating mechanisms during operation, without rotating the other rotating mechanism.

[0066] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0067] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0068] In the embodiments provided in this application, it should be understood that the disclosed apparatus / device and method can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical, mechanical, or other forms.

[0069] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0070] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A walking device, characterized by include: Main support; A first suction cup is disposed on one side of the main support, rotatably connected to the main support about a first direction, and slidably connected to the main support along the first direction, so as to move between a position close to the main support and a position far away from the main support; as well as The second suction cup is disposed on the same side of the main bracket as the first suction cup, is rotatably connected to the main bracket about the first direction, and is slidably connected to the main bracket along the first direction, so as to move between positions close to the main bracket and far from the main bracket.

2. The walking device of claim 1, wherein, Also includes: A first lifting mechanism, one end of which is connected to the main support, and the other end of which is rotatably connected to the first suction cup, is used to drive the first suction cup to move up and down relative to the main support along the first direction; as well as, The second lifting mechanism has one end connected to the main support and the other end rotatably connected to the second suction cup. The second lifting mechanism is used to drive the second suction cup to move up and down relative to the main support in the first direction.

3. The walking device of claim 2, wherein, The first lifting mechanism includes multiple first parallel four-bar linkages, which are connected in a transmission manner. One end of each linkage is connected to the main support, and the other end is rotatably connected to the first suction cup; and / or The second lifting mechanism includes multiple second parallel four-bar linkages, which are connected in a transmission manner. One end of each linkage is connected to the main support, and the other end is rotatably connected to the second suction cup.

4. The walking device of claim 3, wherein, The first lifting mechanism further includes a first intermediate linkage mechanism, wherein two adjacent first parallel four-bar linkages are connected and are drivenly connected through the first intermediate linkage mechanism; and / or The second lifting mechanism also includes a second intermediate linkage mechanism, wherein two adjacent second parallel four-bar linkage mechanisms are connected and are drivenly connected through the second intermediate linkage mechanism.

5. The walking device of claim 3, wherein, Two adjacent first parallel four-bar linkages are connected, and the transmission links of two adjacent first parallel four-bar linkages are connected by a gear mechanism; and / or Two adjacent second parallel four-bar linkages are connected, and the transmission links of two adjacent second parallel four-bar linkages are connected by a gear mechanism.

6. The walking device of claim 3, wherein, The first lifting mechanism also includes: A first lifting drive device is installed at the end of the plurality of first parallel four-bar linkages, and the output shaft of the first lifting drive device is connected to the crank of one of the first parallel four-bar linkages; and / or The second lifting mechanism also includes: A second lifting drive device is installed at the end of the plurality of second parallel four-bar linkages, and the output shaft of the second lifting drive device is connected to the crank of one of the second parallel four-bar linkages.

7. The walking device of claim 2, wherein, Also includes: A first rotating mechanism, at least a portion of which is rotatably connected to the first suction cup and connected to the other end of the first lifting mechanism, is used to drive the first suction cup to rotate relative to the first lifting mechanism around the first direction. The second rotating mechanism, at least a portion of which is rotatably connected to the second suction cup and connected to the other end of the second lifting mechanism, is used to drive the second suction cup to rotate relative to the second lifting mechanism around the first direction.

8. The walking device of claim 7, wherein, The first rotating mechanism includes a first rotating drive device, a first transmission device, and a first rotating frame. The other end of the first lifting mechanism is connected to the first rotating frame. The first rotating drive device is mounted on the first rotating frame. The power input end of the first transmission device is connected to the first rotating drive device, and the power output end of the first transmission device is connected to the first suction cup. And / or The second rotating mechanism includes a second rotating drive device, a second transmission device, and a second rotating frame. The second lifting mechanism is connected to the second rotating frame. The second rotating drive device is mounted on the second rotating frame. The power input end of the second transmission device is connected to the second rotating drive device, and the power output end of the second transmission device is connected to the second suction cup.

9. The walking device of claim 8, wherein, The first suction cup includes a first suction cup body, a first fixed gear, and a first suction cup shaft connected to the first suction cup body. The first fixed gear is sleeved on the first suction cup shaft and fixedly connected to the first suction cup body. The first suction cup shaft is rotatably connected to the first rotating frame. The first transmission device is drively connected to the first fixed gear; and / or The second suction cup includes a second suction cup body, a second fixed gear, and a second suction cup shaft connected to the second suction cup body. The second fixed gear is sleeved on the second suction cup shaft and fixedly connected to the second suction cup body. The second suction cup shaft is rotatably connected to the second rotating frame. The second transmission device is drively connected to the second fixed gear.

10. The walking device of any one of claims 1-9, wherein, The walking device also includes a sensing unit installed on the first suction cup and the second suction cup. The sensing unit is used to detect the position of the first suction cup and / or the second suction cup relative to the obstacle.

11. The walking device according to any one of claims 1-9, wherein, When the walking device walks on the working surface, the first suction cup and / or the second suction cup are attached to the working surface, wherein the working surface includes a glass surface and / or a wall surface.

12. A cleaning apparatus, characterized by It includes a cleaning component and a walking device as described in any one of claims 1-11, wherein the cleaning component is connected to the main support of the walking device.

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