Self-moving device and self-moving system

Abstract

This application relates to the field of mobile device technology, and proposes a self-moving device and a self-moving system. The self-moving device includes: a body; a first track wheel rotatably connected to the body, the first track wheel having a first air extraction channel; a second track wheel rotatably connected to the body, the second track wheel having a pressure relief structure; an annular track surrounding the first and second track wheels; and suction cups equipped with multiple negative pressure generators connected to the first air extraction channel. The negative pressure generators draw negative pressure on the suction cups on the first track wheel through the first air extraction channel, causing the suction cups to adhere to the working surface. The pressure relief structure is used to release pressure on the suction cups on the second track wheel, causing the suction cups to release from the working surface. The multiple suction cups in the aforementioned self-moving device are arranged at intervals along the circumference of the annular track to improve the stability of the annular track during movement, solving the problem of slippage that occurs when existing self-moving devices travel on the working surface.

Description

Technical Field

[0001] This application relates to the field of mobile device technology, and in particular to a self-moving device and self-moving system. Background Technology

[0002] In related technologies, self-moving devices are attached to the working surface using suction cups, and then move across the surface using a tracked walking mechanism. However, when encountering a wet working surface, the tracks may slip, thus affecting the normal movement of the self-moving device. Utility Model Content

[0003] In view of this, embodiments of this application provide a self-moving device and a self-moving system to solve the problem of slippage that occurs when existing self-moving devices move on the work surface.

[0004] The first aspect of this application proposes a self-moving device, comprising:

[0005] Organism;

[0006] The first track wheel is rotatably connected to the machine body, and the first track wheel is provided with a first air extraction channel;

[0007] The second track wheel is rotatably connected to the machine body. The second track wheel is provided with a pressure relief structure. In the walking direction of the self-moving device, the second track wheel is located behind the first track wheel.

[0008] An annular track surrounds the first track wheel and the second track wheel, and meshes with the first track wheel and the second track wheel;

[0009] The suction cups are provided in multiples, and the multiple suction cups are arranged at intervals along the circumference of the annular track on the outer side of the annular track.

[0010] A negative pressure generator, wherein the negative pressure generator is connected to the first air extraction channel;

[0011] The negative pressure generator draws negative pressure on the suction cup on the first track wheel through the first air extraction channel, so that the suction cup is adsorbed onto the working surface; the pressure relief structure is used to relieve pressure on the suction cup on the second track wheel, so that the suction cup is released from the working surface.

[0012] The self-moving device provided in this application arranges multiple suction cups at intervals along the circumference of the annular track on its outer surface. When the track moves, the suction cups in contact with the working surface can adhere to it, improving the stability of the track's movement and reducing or avoiding the risk of slippage. Furthermore, the suction cups are mounted on the track, eliminating the need for additional space on the machine body, thus facilitating the arrangement of other functional components. In addition, by placing the first suction channel on the first track wheel at the front end and the pressure relief structure on the second track wheel at the rear end, when a suction cup on the track moves to the first track wheel, a negative pressure generator automatically draws negative pressure from the suction cup, allowing it to adhere to the working surface. When the suction cup moves to the second track wheel, the pressure relief structure automatically releases pressure from the suction cup, allowing it to leave the working surface. This arrangement eliminates the need for additional suction and / or pressure relief wheels, simplifying the overall structure of the self-moving device.

[0013] In some embodiments, the suction cup includes a suction cup body and an air extraction valve. The suction cup body has a second air extraction channel for communicating with the first air extraction channel. The air extraction valve is installed in the second air extraction channel and controls the opening and closing of the second air extraction channel.

[0014] In some embodiments, the second air extraction channel includes an air extraction hole and a mounting hole; the air extraction valve is an umbrella valve, which is installed in the mounting hole and covers the air extraction hole.

[0015] In some embodiments, a plurality of air extraction holes are arranged at intervals around the mounting hole.

[0016] In some embodiments, the suction cup further includes a pressure relief valve, and the suction cup body also has a pressure relief channel. The pressure relief valve is installed in the pressure relief channel and blocks the pressure relief channel; the pressure relief valve opens the pressure relief channel in response to the triggering of the pressure relief structure.

[0017] In some embodiments, the pressure relief channel includes a pressure relief hole, and the pressure relief valve includes a movable member and an elastic member. The movable member is movably installed within the pressure relief channel. When the movable member is in a first position, the movable member opens the pressure relief hole. When the movable member is in a second position, the movable member blocks the pressure relief hole. The elastic member is installed within the pressure relief channel and connected to the movable member so that the movable member is in the second position. The movable member moves to the first position in response to the triggering of the pressure relief structure.

[0018] In some embodiments, the middle portion of the movable member is rotatably mounted within the pressure relief channel, and the first end of the movable member blocks the pressure relief hole; in response to the pressure relief structure triggering the second end of the movable member, the first end of the movable member opens the pressure relief hole.

[0019] In some embodiments, the annular track has a first through hole at the position corresponding to the suction cup, the second end of the movable member has a pressure-receiving part in the first through hole, and the pressure relief structure is a pressure relief protrusion, which pushes against the pressure-receiving part.

[0020] In some embodiments, the pressure relief channel is provided with a rotating shaft, the movable member is rotatably mounted on the rotating shaft, and the elastic member includes a torsion spring sleeved on the rotating shaft.

[0021] In some embodiments, a ring platform is provided at the pressure relief hole, and the first end of the movable member abuts against the ring platform to block the pressure relief hole.

[0022] In some embodiments, a seal is provided on the side of the first end of the movable member facing the pressure relief hole; and / or, a seal is provided on the side of the pressure relief hole facing the first end of the movable member.

[0023] In some embodiments, the pressure relief valve includes a duckbill valve, and the pressure relief structure is a pressure relief rod that can be inserted into and open the duckbill valve.

[0024] In some embodiments, the distribution direction of the pressure relief channel and the second air extraction channel is parallel to the axial direction of the first track wheel.

[0025] In some embodiments, the body includes a connecting portion, the connecting portion having a third air extraction channel, the third air extraction channel being connected to the negative pressure generator, and the connecting portion having a notch on the side near the working surface, the third air extraction channel being connected to the first air extraction channel through the notch.

[0026] In some embodiments, the first track wheel is provided with a connecting hole extending along the axial direction of the first track wheel, the first end of the first air extraction channel is located on the circumferential surface of the first track wheel, the second end of the first air extraction channel communicates with the connecting hole, the connecting portion is located in the connecting hole, and the notch faces the working surface; in the axial direction of the first track wheel, the notch is aligned with the second end of the first air extraction channel.

[0027] In some embodiments, the negative pressure generator is mounted on the machine body, and the first track wheel is also provided with a fourth air extraction channel, which is connected to the third air extraction channel, and the negative pressure generator is connected to the fourth air extraction channel.

[0028] In some embodiments, the first end of the first suction channel is located on the circumferential surface of the first track wheel, the second end of the first suction channel is located on the side wall of the first track wheel on one axial side, the notch faces the second end of the first suction channel, and in the radial direction of the first track wheel, the distance from the notch to the central axis of the first track wheel is the same as the distance from the second end of the first suction channel to the central axis of the first track wheel.

[0029] In some embodiments, a plurality of first suction channels are arranged at intervals along the circumference of the first track wheel, and the distance between the first ends of two adjacent first suction channels in the circumference of the first track wheel is the same as the distance between two adjacent suction cups.

[0030] In some embodiments, multiple pressure relief structures are arranged at intervals along the circumference of the second track wheel, and the distance between two adjacent pressure relief structures in the circumference of the second track wheel is the same as the distance between two adjacent suction cups.

[0031] In some embodiments, the suction cup includes a suction cup body and a suction pressure relief valve. The suction cup body has a suction pressure relief channel, and the suction pressure relief valve is installed in the suction pressure relief channel and controls the cut-off and opening of the suction pressure relief channel.

[0032] A second aspect of this application proposes a self-moving system comprising a base station and a self-moving device as described in the first aspect, the base station being used to house the self-moving device.

[0033] The self-moving system employs any one or more embodiments of the aforementioned self-moving device, and thus possesses the beneficial effects of the aforementioned embodiments, which will not be elaborated upon here.

[0034] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 These are schematic diagrams of the structure of the self-moving device provided in some embodiments of this application;

[0037] Figure 2 yes Figure 1 A partial structural diagram of the self-moving device is shown;

[0038] Figure 3 This is a schematic diagram of the structure of the first track wheel, the second track wheel, the annular track, and the suction cup provided in some embodiments of this application;

[0039] Figure 4 yes Figure 3 A structural schematic diagram of the first track wheel, the second track wheel, the annular track, and the suction cup from another perspective;

[0040] Figure 5 yes Figure 4 Sectional view along the BB direction;

[0041] Figure 6 yes Figure 5 Enlarged view at point D;

[0042] Figure 7 yes Figure 3 Enlarged view of point A in the middle;

[0043] Figure 8 yes Figure 5 A sectional view along the EE direction;

[0044] Figure 9 yes Figure 4 A cross-sectional view along the CC direction;

[0045] Figure 10 yes Figure 9 Enlarged view at point F;

[0046] Figure 11 This is a schematic diagram of the structure of a pressure relief valve provided in some embodiments of this application;

[0047] Figure 12 This is a schematic diagram of the structure of a pressure relief valve provided in some other embodiments of this application.

[0048] The markings in the diagram mean:

[0049] 100. Self-moving devices;

[0050] 10. Body; 11. Connecting parts; 111. Third air extraction channel; 1111. Notch;

[0051] 20. First track wheel; 21. First exhaust channel; 22. Fourth exhaust channel; 23. Connecting hole;

[0052] 30. Second track roller; 31. Pressure relief structure;

[0053] 40. Annular track; 41. First through hole; 42. Second through hole; 43. Engaging part;

[0054] 50. Suction cup; 51. Suction cup body; 511. Second suction channel; 5111. Suction hole; 5112. Mounting hole; 512. Pressure relief channel; 5121. Pressure relief hole; 5122. Ring platform; 513. Negative pressure chamber; 52. Suction valve; 53. Pressure relief valve; 531. Moving part; 5311. First end; 53111. Sealing element; 5312. Second end; 53121. Pressure-bearing part; 532. Elastic element; 54. Rotating shaft;

[0055] 60. Drive unit. Detailed Implementation

[0056] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0058] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0059] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0060] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0061] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0062] In the description of the embodiments of this application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0063] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0064] An embodiment of the first aspect of this application discloses a self-moving device. This self-moving device can be fixed to a work surface by suction cup adsorption and can move on the work surface. The work surface can be flat or curved. The work surface can be vertical, inclined, or horizontal. The self-moving device can be a transport device, such as a transport trolley that moves on the work surface (wall or glass surface). The self-moving device can also be a cleaning device, such as a cleaning device that moves on the work surface (wall or glass surface) and cleans the work surface, such as a window cleaning machine or wall cleaning machine.

[0065] Please refer to Figure 1 , Figure 2 , Figure 4 and Figure 5The self-moving device 100 includes a body 10 and a walking mechanism. The walking mechanism includes a first track wheel 20, a second track wheel 30, an annular track 40, suction cups 50, and a negative pressure generator. The first track wheel 20 is rotatably connected to the body 10 and has a first air extraction channel 21. The second track wheel 30 is rotatably connected to the body 10 and has a pressure relief structure 31. In the walking direction of the self-moving device 100, the second track wheel 30 is located behind the first track wheel 20. The annular track 40 surrounds the first track wheel 20 and the second track wheel 30 and engages with them. Multiple suction cups 50 are provided and are spaced apart along the circumference of the annular track 40 on its outer surface. The negative pressure generator is connected to the first air extraction channel 21.

[0066] The walking direction of the self-moving device 100 is... Figure 2 The X direction in the equation.

[0067] For example, in the walking direction of the self-moving device 100, the self-moving device 100 may only include the first track wheel 20 and the second track wheel 30. Since the second track wheel 30 is located behind the first track wheel 20, the first track wheel 20 is the front wheel and the second track wheel 30 is the rear wheel.

[0068] For example, in the traveling direction of the self-moving device 100, the traveling mechanism may include other tracks in addition to the first track wheel 20 and the second track wheel 30, such as a third track wheel. Understandably, the third track wheel may be located in front of the first track wheel 20 or behind the second track wheel 30; alternatively, the third track wheel may be located behind the first track wheel 20 and in front of the second track wheel 30, that is, the third track wheel is positioned between the first track wheel 20 and the second track wheel 30 in the traveling direction of the self-moving device 100.

[0069] Understandably, the first track roller 20 and the second track roller 30 can be the same size or different.

[0070] The annular track 40 is wound around the first track wheel 20 and the second track wheel 30. This can be understood as the first track wheel 20 and the second track wheel 30 being located inside the annular track 40. The annular track 40 meshes with the first track wheel 20 and the second track wheel 30 to achieve synchronous rotation of the first track wheel 20 and the second track wheel 30. When the first track wheel 20 and the second track wheel 30 rotate, they can drive the annular track 40 to move circumferentially.

[0071] For example, a plurality of suction cups 50 are evenly spaced along the circumference of the annular track 40 on the outer side of the annular track 40. The suction cups 50 can be fixedly connected to the annular track 40, and can move together with the annular track 40 when the annular track 40 moves. It is understood that a portion of the suction cups 50 is located on the outer side of the annular track 40, that is, on the side of the annular track 40 facing away from the first track wheel 20 and the second track wheel 30; another portion of the suction cups 50 passes through the annular track 40 and can cooperate with the first track wheel 20 or the second track wheel 30 to achieve the function of drawing negative pressure or releasing pressure.

[0072] The negative pressure generator is connected to the first suction channel 21. Understandably, the negative pressure generator can be directly connected to the first suction channel 21; or, the negative pressure generator can also be connected to the first suction channel 21 through other suction channels. For example, the negative pressure generator is a vacuum pump.

[0073] Understandably, the first exhaust channel 21 can be a straight channel extending radially along the first track wheel 20; or, the first exhaust channel 21 can also be a curved channel or a broken line channel.

[0074] Exemplarily, the negative pressure generator draws negative pressure on the suction cup 50 located on the first track wheel 20 through the first suction channel 21, causing the suction cup 50 to adhere to the working surface; the pressure relief structure 31 is used to relieve pressure on the suction cup 50 located on the second track wheel 30, causing the suction cup 50 to release from adhesion to the working surface. Understandably, when the self-moving device 100 moves forward on the working surface, the suction cup 50 moves circumferentially along the annular track 40. During this time, the suction cup 50 continuously switches between a working state of contact with the working surface and a working state of separation from the working surface. When the suction cup 50 moves onto the working surface, the negative pressure generator draws negative pressure on the suction cup 50 moved onto the working surface through the first suction channel 21, causing the suction cup 50 to adhere to the working surface. When the suction cup 50 leaves the working surface, the pressure relief structure 31 relieves pressure on the suction cup 50 on the working surface, causing the suction cup 50 to release from adhesion to the working surface.

[0075] Furthermore, the negative pressure generator draws negative pressure on the suction cup 50 located on the first track wheel 20 through the first suction channel 21. Alternatively, the negative pressure generator can draw negative pressure on the suction cup 50 located below the first track wheel 20 through the first suction channel 21, or it can draw negative pressure on the suction cup 50 facing the working surface through the first suction channel 21. At this time, the suction cup 50 is located between the first track wheel 20 and the working surface. The pressure relief structure 31 is used to relieve pressure on the suction cup 50 located on the second track wheel 30. Alternatively, the pressure relief structure 31 can be used to relieve pressure on the suction cup 50 located below the second track wheel 30, or it can be used to relieve pressure on the suction cup 50 facing the working surface. At this time, the suction cup 50 is located between the second track wheel 30 and the working surface.

[0076] By arranging multiple suction cups 50 at intervals along the circumference of the annular track 40 on its outer surface, the suction cups 50 in contact with the working surface can adhere to the working surface when the annular track 40 moves, thereby improving the stability of the annular track 40 during movement and reducing or avoiding the risk of slippage. Furthermore, since the suction cups 50 are located on the annular track 40, they do not occupy space on the machine body 10, thus facilitating the arrangement of other functional components on the machine body 10. In addition, by placing the first air extraction channel 21 on the first track wheel 20 and the pressure relief structure 31 on the second track wheel 30, there is no need to additionally install air extraction wheels and / or pressure relief wheels, simplifying the overall structure of the self-moving device 100.

[0077] During movement, the self-moving device 100 needs to ensure that at least one suction cup 50 is attached to the working surface. Understandably, the number of suction cups 50 attached to the working surface can be appropriately increased so that even if one suction cup 50 accidentally depressurizes, the self-moving device 100 will not detach. However, the number of suction cups 50 cannot be too large, as too many suction cups 50 will lead to structural complexity and increased costs.

[0078] It should be noted that the suction cup 50 adheres to the working surface on the first track wheel 20 and releases from the working surface on the second track wheel 30. To ensure the reliability of the self-moving device 100's adhesion, at least one suction cup 50 should always be adhered between the first track wheel 20 and the second track wheel 30. Taking the opposite direction of travel, i.e., the opposite direction of X, as an example, when the first suction cup 50 moves to the pressure relief structure 31 of the second track wheel 30, the second suction cup 50, located behind and adjacent to the first suction cup 50, has at least passed the first track wheel 20 and adhered to the working surface; that is, the second suction cup 50 is located between the first track wheel 20 and the second track wheel 30. Therefore, the distance between the axes of the first track wheel 20 and the second track wheel 30 should be at least twice the distance between adjacent suction cups 50.

[0079] In some embodiments, the self-moving device 100 is a self-moving cleaning device. For example, the self-moving cleaning device is a window cleaning machine, and correspondingly, the working surface is a glass surface; wherein, the window cleaning machine also includes a cleaning component, which is used to clean the glass surface when the window cleaning machine moves on the glass surface. The cleaning component may include a cleaning cloth, a cleaning brush, a cleaning sponge, or a squeegee, etc.

[0080] In some embodiments, the self-moving device 100 includes only a first track wheel 20 and a second track wheel 30, at least one of which is a driving wheel. Exemplarily, the second track wheel 30 is the driving wheel, the first track wheel 20 is the driven wheel, and a drive device 60 is provided on the body 10. The drive device 60 drives the second track wheel 30 to rotate, and the second track wheel 30 drives the first track wheel 20 to rotate via an annular track 40, thereby enabling the self-moving device 100 to travel on the working surface. When the traveling mechanism also includes other track wheels, these other track wheels can serve as either driving wheels or driven wheels. When other track wheels serve as driving wheels, the first track wheel 20 and the second track wheel 30 can be either driving wheels or driven wheels.

[0081] In some embodiments, the self-moving device 100 includes at least two sets of tracked walking mechanisms, comprising a first track wheel 20, a second track wheel 30, an annular track 40, and a suction cup 50. Exemplarily, there are two sets of tracked walking mechanisms, arranged axially spaced along the first track wheel 20, to further improve the stability of the self-moving device 100 when moving on the window surface, without complicating the structure. It is understood that the two sets of tracked walking mechanisms may share the same drive unit 60, or each set may be equipped with its own drive unit 60. In other embodiments, the self-moving device 100 may also include more walking mechanisms.

[0082] Among them, the axial direction of the first track wheel 20 is Figure 5 in the Y direction.

[0083] Please refer to Figure 4 and Figure 5 In some embodiments, the suction cup 50 includes a suction cup body 51 and an air extraction valve 52. The suction cup body 51 has a second air extraction channel 511 for communicating with the first air extraction channel 21. The air extraction valve 52 is installed in the second air extraction channel 511 and controls the opening and closing of the second air extraction channel 511.

[0084] Understandably, the second suction channel 511 is connected to the negative pressure chamber 513 of the suction cup 50. The negative pressure chamber 513 is used to contact the working surface and perform negative pressure adsorption. The negative pressure generator draws negative pressure on the suction cup 50 located below the first track wheel 20 through the first suction channel 21 and the second suction channel 511. Specifically, when the negative pressure generator draws negative pressure, the suction valve 52 controls the second suction channel 511 to open, so that the air in the negative pressure chamber 513 flows into the negative pressure generator; when the negative pressure generator stops drawing negative pressure, the suction valve 52 controls the second suction channel 511 to close, so that the negative pressure in the negative pressure chamber 513 can be maintained, thereby maintaining the adsorption state with the working surface.

[0085] Understandably, the suction valve 52 is a one-way valve, for example, it can be a gravity-operated, spring-loaded, or solenoid-operated one-way valve. The one-way valve can open under the negative pressure generated by the negative pressure generator; when the negative pressure generator is no longer in operation, the one-way valve closes.

[0086] Please refer to Figure 4 and Figure 5 In some embodiments, the second air extraction channel 511 includes an air extraction hole 5111 and a mounting hole 5112; the air extraction valve 52 is an umbrella valve, which is installed in the mounting hole 5112 and covers the air extraction hole 5111.

[0087] The air extraction hole 5111 is a through hole and connects to the negative pressure chamber 513 and the second air extraction channel 511. The mounting hole 5112 can be a through hole or a blind hole.

[0088] Understandably, the umbrella valve includes an umbrella canopy and an umbrella rod. The umbrella rod is inserted into and snapped into the mounting hole 5112. The umbrella canopy seals one end of the air extraction hole 5111 located within the second air extraction channel 511 to block the air extraction hole 5111. When the suction cup 50 is below the first track wheel 20, the suction cup body 51 contacts the working surface. The negative pressure generator draws negative pressure into the negative pressure chamber 513 through the first air extraction channel 21 and the second air extraction channel 511. Under the action of suction, the umbrella canopy opens the air extraction hole 5111, creating a negative pressure between the negative pressure chamber 513 and the working surface, thereby causing the suction cup body 51 to adhere to the working surface. When the suction cup 50 is between the first track wheel 20 and the second track wheel 30, the suction cup 50 leaves the first track wheel 20 and is no longer connected to the first air extraction channel 21. The negative pressure generator no longer draws negative pressure on the suction cup body 51, and the umbrella surface re-seals the air extraction hole 5111 to maintain a constant negative pressure between the suction cup body 51 and the working surface, that is, the suction cup body 51 is always adsorbed on the working surface.

[0089] Please refer to Figure 3 , Figure 5 and Figure 7 In some embodiments, multiple air extraction holes 5111 are arranged at intervals around the mounting hole 5112.

[0090] Understandably, two, three, four or more air extraction ports 5111 may be arranged at intervals around the mounting hole 5112, but it is necessary to ensure that all air extraction ports 5111 are covered by the umbrella surface of the umbrella valve.

[0091] For example, multiple air extraction holes 5111 are evenly spaced around the mounting hole 5112 to ensure that the umbrella surface of the umbrella valve is subjected to uniform force when air is extracted, which is conducive to the opening of the air extraction holes 5111 on the umbrella surface.

[0092] For example, both the air extraction hole 5111 and the mounting hole 5112 are circular holes.

[0093] In some other embodiments, an air extraction port 5111 may also be provided.

[0094] Please refer to Figure 5 and Figure 8 In some embodiments, the body 10 includes a connecting portion 11, on which a third air extraction channel 111 is provided. The third air extraction channel 111 is connected to a negative pressure generator. A notch 1111 is provided on the side of the connecting portion 11 near the working surface. The third air extraction channel 111 is connected to the first air extraction channel 21 through the notch 1111.

[0095] For example, the first track wheel 20 is provided with a connecting hole 23 extending axially along the first track wheel 20. The first end of the first suction channel 21 is located on the circumferential surface of the first track wheel 20, and the second end of the first suction channel 21 communicates with the connecting hole 23. The connecting portion 11 is located in the connecting hole 23, and the notch 1111 faces the working surface. In the axial direction of the first track wheel 20, the notch 1111 is aligned with the second end of the first suction channel 21. The first end of the first suction channel 21 is used to dock with the second suction channel 511 of the suction cup 50.

[0096] Understandably, the connecting part 11 is fixed, while the first track wheel 20 can rotate relative to the connecting part 11.

[0097] During the rotation of the first track wheel 20 relative to the connecting part 11, the first suction channel 21 on the first track wheel 20 also rotates around the connecting part 11, while the suction cup 50 moves circumferentially along the annular track 40. When the suction cup 50 moves onto the first track wheel 20, the second suction channel 511 of the suction cup 50 can be aligned with the first end of the first suction channel 21 of the first track wheel 20. When the first suction channel 21 of the first track wheel 20 rotates to a position where the second end of the first suction channel 21 is close to the working surface, the notch 1111 aligns with the second end of the first suction channel 21, making the first suction channel 21 connected to the third suction channel 111, thereby enabling the negative pressure chamber 513 of the suction cup 50 to connect with the negative pressure generator. The notch 1111 should be larger in the circumferential direction of the first track wheel 20 to increase the conduction time between the notch 1111 and the first air extraction channel 21 during the rotation of the first track wheel 20, thereby increasing the negative pressure extraction time of the suction cup 50 to ensure stable adsorption.

[0098] The first end of the first air extraction channel 21 is located on the circumferential surface of the first track wheel 20, and the second end of the first air extraction channel 21 is connected to the connecting hole 23. It can be understood that the first air extraction channel 21 extends radially along the first track wheel 20.

[0099] For example, the third exhaust channel 111 extends along the axial direction of the first track wheel 20, and the notch 1111 is provided at the bottom of the third exhaust channel 111, that is, the notch 1111 is located on the side of the third exhaust channel 111 facing the working surface.

[0100] The annular track 40 has a second through hole 42 corresponding to the suction cup 50. The second through hole 42 communicates with the second suction channel 511 and is used to connect with the first suction channel 21. When the first suction channel 21 connects with the second through hole 42 and the second through hole 42 is below the first track wheel 20, the notch 1111 communicates with the first suction channel 21. At this time, the negative pressure generator can draw negative pressure from the suction cup 50.

[0101] Understandably, the negative pressure generator draws negative pressure on the suction cup 50 through the third suction channel 111, the notch 1111, the first suction channel 21, and the second suction channel 511.

[0102] Please refer to Figure 5 In some embodiments, the negative pressure generator is installed on the machine body 10, and the first track wheel 20 is also provided with a fourth air extraction channel 22, which is connected to the third air extraction channel 111, and the negative pressure generator is connected to the fourth air extraction channel 22.

[0103] The fourth exhaust channel 22 extends along the axial direction of the first track wheel 20. For example, the centerline of the fourth exhaust channel 22 coincides with or nearly coincides with the centerline of the third exhaust channel 111.

[0104] Understandably, the negative pressure generator draws negative pressure on the suction cup 50 through the fourth suction channel 22, the third suction channel 111, the notch 1111, the first suction channel 21, and the second suction channel 511.

[0105] In some other embodiments, the negative pressure generator may also be mounted on the first track wheel 20.

[0106] In some embodiments, the first end of the first suction channel 21 is located on the circumferential surface of the first track wheel 20, and the second end of the first suction channel 21 is located on the side wall of the first track wheel 20 on one side of the axial direction. The notch 1111 faces the second end of the first suction channel 21. In the radial direction of the first track wheel 20, the distance from the notch 1111 to the central axis of the first track wheel 20 is the same as the distance from the second end of the first suction channel 21 to the central axis of the first track wheel 20.

[0107] The first end of the first exhaust channel 21 is located on the circumferential surface of the first track wheel 20, and the second end of the first exhaust channel 21 is located on the side wall of the first track wheel 20 on one side of the axial direction. It can be understood that the shape of the first exhaust channel 21 is a 1 / 4 arc or an L-shape.

[0108] The notch 1111 faces the second end of the first exhaust channel 21, which can be understood as the notch 1111 being located on the end face of the connecting portion 11 and arranged close to the working surface. The end face of the connecting portion 11 abuts against the side wall on one axial side of the first track wheel 20.

[0109] The distance from the notch 1111 to the central axis of the first track wheel 20 is the same as the distance from the second end of the first exhaust channel 21 to the central axis of the first track wheel 20. When the first track wheel 20 rotates to a certain position relative to the connecting part 11, the notch 1111 and the first exhaust channel 21 are connected.

[0110] Please refer to Figure 8 In some embodiments, multiple first suction channels 21 are arranged at intervals along the circumference of the first track wheel 20, and the distance between the first ends of two adjacent first suction channels 21 in the circumference of the first track wheel 20 is the same as the distance between two adjacent suction cups 50.

[0111] Understandably, the first exhaust channel 21 may be arranged in two, three, four or more at circumferential intervals along the first track wheel 20.

[0112] For example, four first suction channels 21 are evenly spaced along the circumference of the first track wheel 20. That is, the first suction channel 21 engages with the second through hole 42 once for every 90° rotation of the first track wheel 20, thereby achieving negative pressure extraction for one suction cup 50. Understandably, when there are ten suction cups 50, the circumference of the annular track 40 is 2.5 times the circumference of the first track wheel 20.

[0113] In some other embodiments, a first air extraction channel 21 may also be provided.

[0114] Please refer to Figure 9 and Figure 10 In some embodiments, the suction cup 50 further includes a pressure relief valve 53, and the suction cup body 51 also has a pressure relief channel 512. The pressure relief valve 53 is installed in the pressure relief channel 512 and blocks the pressure relief channel 512. The pressure relief valve 53 opens the pressure relief channel 512 in response to the triggering of the pressure relief structure 31.

[0115] Understandably, the pressure relief channel 512 can connect the negative pressure chamber 513 to the outside atmosphere. When the pressure relief valve 53 is open, the negative pressure chamber 513 is connected to the outside atmosphere; when the pressure relief valve 53 is closed, the negative pressure chamber 513 is not connected to the outside atmosphere.

[0116] The suction valve 52 and the pressure relief valve 53 are two independent valves. In some embodiments, the distribution direction of the pressure relief channel 512 and the second suction channel 511 is parallel to the axial direction of the first track wheel 20. Correspondingly, the distribution direction of the suction valve 52 and the pressure relief valve 53 is parallel to the axial direction of the first track wheel 20. In other embodiments, the distribution direction of the pressure relief channel 512 and the second suction channel 511 may also be other directions. For example, the distribution direction of the pressure relief channel 512 and the second suction channel 511 may be parallel to the distribution direction of the suction cup 50, or the distribution direction of the pressure relief channel 512 and the second suction channel 511 may form an acute or obtuse angle with the distribution direction of the suction cup 50.

[0117] When the suction cup 50 is below the first track wheel 20, the suction valve 52 opens the second suction channel 511, and the negative pressure generator draws negative pressure on the suction cup 50 so that the suction cup 50 is adsorbed on the working surface. As the first track wheel 20 and the second track wheel 30 rotate, the suction cup 50 remains adsorbed on the working surface until the suction cup 50 is below the second track wheel 30. At this point, the pressure relief structure 31 triggers the pressure relief valve 53, which opens the pressure relief channel 512 to release the pressure from the suction cup 50, thereby releasing the suction cup 50 from the working surface.

[0118] Please refer to Figure 9 and Figure 10 In some embodiments, the pressure relief channel 512 includes a pressure relief hole 5121, and the pressure relief valve 53 includes a movable member 531 and an elastic member 532. The movable member 531 is movably installed in the pressure relief channel 512. When the movable member 531 is in a first position, the movable member 531 opens the pressure relief hole 5121. When the movable member 531 is in a second position, the movable member 531 blocks the pressure relief hole 5121. The elastic member 532 is installed in the pressure relief channel 512 and connected to the movable member 531 so that the movable member 531 is in the second position. The movable member 531 moves to the first position in response to the triggering of the pressure relief structure 31.

[0119] The pressure relief hole 5121 is a through hole. When the pressure relief hole 5121 is open, the negative pressure chamber 513 is connected to the outside atmosphere; when the pressure relief hole 5121 is blocked, the negative pressure chamber 513 is not connected to the outside atmosphere.

[0120] In some embodiments, the movable member 531 is rotatably connected within the pressure relief channel 512. The middle portion of the movable member 531 is rotatably connected within the pressure relief channel 512, and the first end 5311 of the movable member 531 blocks the pressure relief hole 5121; in response to the pressure relief structure 31 triggering the second end 5312 of the movable member 531, the first end 5311 of the movable member 531 opens the pressure relief hole 5121.

[0121] Understandably, the movable part 531 is a rotating rod, and the rotational position of the movable part 531 is between the first end 5311 and the second end 5312.

[0122] Please refer to Figure 5 and Figure 6 When the suction cup 50 is below the first track wheel 20, since the first track wheel 20 does not have a pressure relief structure 31, the first end 5311 of the movable part 531, under the elastic force of the elastic member 532, blocks the pressure relief hole 5121 to ensure negative pressure between the suction cup body 51 and the working surface. Please refer to... Figure 9 and Figure 10 When the suction cup 50 is below the second track wheel 30, the second track wheel 30 is equipped with a pressure relief structure 31. The pressure relief structure 31 and the second end 5312 of the movable part 531 push and cooperate, using the lever principle, so that the first end 5311 of the movable part 531 opens the pressure relief hole 5121, allowing outside air to enter between the suction cup body 51 and the working surface through the pressure relief hole 5121 to achieve pressure relief; that is, the suction cup 50 can be separated from the working surface.

[0123] Please refer to Figure 9 and Figure 10 In some embodiments, the annular track 40 is provided with a first through hole 41 at the position corresponding to the suction cup 50, the second end 5312 of the movable member 531 is provided with a pressure-receiving part 53121 in the first through hole 41, and the pressure relief structure 31 is a pressure relief protrusion. The pressure relief protrusion and the pressure-receiving part 53121 push and cooperate to open the pressure relief hole 5121 at the first end 5311 of the movable member 531.

[0124] The first through hole 41 connects the inner and outer sides of the annular track 40.

[0125] Understandably, the pressure-bearing part 53121 can be integrally formed with the movable part 531; or, the pressure-bearing part 53121 can be fixed to the second end 5312 of the movable part 531 by means of bonding, welding, snap-fitting, etc.

[0126] Understandably, the pressure relief protrusion can be integrally formed with the second track wheel 30, or the pressure relief protrusion can be fixed to the second track wheel 30 by means of bonding, welding, snap-fitting, etc.

[0127] In some other embodiments, when the first through hole 41 is provided on the annular track 40, the second end 5312 of the movable member 531 is not provided with a pressure-bearing part 53121, and the pressure relief structure 31 is a pressure relief rod. The pressure relief rod can pass through the first through hole 41 and push and cooperate with the second end 5312 of the movable member 531 so that the first end 5311 of the movable member 531 opens the pressure relief hole 5121.

[0128] In some embodiments, a rotating shaft 54 ​​is provided within the pressure relief channel 512, a movable member 531 is rotatably mounted on the rotating shaft 54, and an elastic member 532 includes a torsion spring sleeved on the rotating shaft 54. Alternatively, the elastic member 532 can also be a compression spring. For example, the compression spring can be positioned above the movable member 531, with one end abutting against a side wall of the pressure relief channel 512 and the other end abutting against the movable member 531 and located between the rotating shaft 54 ​​and the first end 5311 of the movable member 531; or, the compression spring can be positioned below the movable member 531, with one end abutting against a side wall of the pressure relief channel 512 and the other end abutting against the movable member 531 and located between the rotating shaft 54 ​​and the second end 5312.

[0129] Please refer to Figure 10 In some embodiments, a ring platform 5122 is provided at the pressure relief hole 5121, and the first end 5311 of the movable member 531 abuts against the ring platform 5122 to block the pressure relief hole 5121.

[0130] The first end 5311 of the movable part 531 abuts against the annular platform 5122 to block the pressure relief hole 5121, that is, the inner cavity of the annular platform 5122 is connected to the pressure relief hole 5121. The annular platform 5122 can be a circular annular platform, an elliptical annular platform, or a polygonal annular platform, etc.

[0131] Understandably, the center line of the ring platform 5122 coincides with or nearly coincides with the center line of the pressure relief hole 5121.

[0132] The ring platform 5122 is designed to allow the surface of the ring platform 5122 facing the first end 5311 to better fit with the first end 5311, thereby achieving a better seal for the pressure relief hole 5121.

[0133] Please refer to Figure 10 In some embodiments, a sealing element 53111 is provided on the side of the first end 5311 of the movable member 531 facing the pressure relief hole 5121. Exemplarily, the sealing element 53111 can be a gasket or a sealing ring to further improve the sealing performance when the first end 5311 of the movable member 531 blocks the pressure relief hole 5121. The sealing element 53111 can be bonded to the first end 5311 of the movable member 531. Alternatively, the sealing element 53111 can also be located on the side of the pressure relief hole 5121 facing the first end 5311 of the movable member 531.

[0134] Please refer to Figure 11In some embodiments, when the suction cup body 51 includes a pressure relief channel 512 with a pressure relief hole 5121, the pressure relief valve 53 is a duckbill valve located within the pressure relief hole 5121; the pressure relief structure 31 is a pressure relief rod that can be inserted into and open the duckbill valve to open the pressure relief hole 5121. After the pressure relief rod is withdrawn from the duckbill valve, the duckbill valve can close by its own structure to close the pressure relief hole 5121. Exemplarily, the duckbill valve is fixed to the edge of the pressure relief hole 5121 by a flange structure.

[0135] Please refer to Figure 12 In some embodiments, based on the suction cup body 51 including a pressure relief channel 512, and the pressure relief channel 512 having a pressure relief hole 5121, the movable member 531 moves axially within the pressure relief hole 5121. Specifically, under the elastic force of the elastic member 532, the lower end of the movable member 531 blocks the pressure relief hole 5121, i.e., the movable member 531 is in a second position; when the pressure relief structure 31 pushes the upper end of the movable member 531, the movable member 531 compresses the elastic member 532 and moves downward to a first position to open the pressure relief hole 5121.

[0136] In some embodiments, multiple pressure relief structures 31 are arranged at circumferential intervals along the second track wheel 30, and the distance between two adjacent pressure relief structures 31 in the circumferential direction of the second track wheel 30 is the same as the distance between two adjacent suction cups 50.

[0137] Understandably, the pressure relief structure 31 can be arranged in two, three, four or more at circumferential intervals along the second track wheel 30.

[0138] For example, four pressure relief structures 31 are evenly spaced along the circumference of the second track wheel 30, that is, the pressure relief structure 31 can relieve pressure on one suction cup 50 for every 90° rotation of the second track wheel 30. Understandably, when there are ten suction cups 50, the circumference of the annular track 40 is 2.5 times the circumference of the second track wheel 30.

[0139] In some other embodiments, the pressure relief structure 31 may also be a single structure.

[0140] Please refer to Figure 8 In some embodiments, the outer wall of the annular track 40 is provided with a snap-fit ​​part 43, and the suction cup 50 is snapped onto the snap-fit ​​part 43 to facilitate the installation and removal of the suction cup 50.

[0141] In some embodiments, the suction cup 50 includes a suction cup body 51 and a suction pressure relief valve. The suction cup body 51 has a suction pressure relief channel, and the suction pressure relief valve is installed in the suction pressure relief channel and controls the opening and closing of the suction pressure relief channel. That is, suction and pressure relief share the same suction pressure relief valve.

[0142] The second aspect of this application proposes a self-moving system comprising a base station and a self-moving device 100 as described in the first aspect, wherein the base station is used to house the self-moving device 100.

[0143] For example, the self-moving system is a cleaning system, and the self-moving device 100 is a self-moving cleaning device. For instance, the self-moving cleaning device is a window cleaning machine, and correspondingly, the working surface is a glass surface; wherein, the window cleaning machine also includes cleaning components, which are used to clean the glass surface when the window cleaning machine moves on the glass surface. The cleaning components may include cleaning cloths, cleaning brushes, cleaning sponges, or squeegees, etc.

[0144] Understandably, base stations can charge and replenish cleaning fluid for self-propelled cleaning devices, clean and dry the cleaning components of the self-propelled cleaning devices, and communicate with the self-propelled cleaning devices (e.g., for positioning and navigation).

[0145] The self-moving system adopts any one or more embodiments of the self-moving device 100 described above, and thus has the beneficial effects of the above embodiments, which will not be described in detail here.

[0146] 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 self-moving device, characterized in that, include: Organism; The first track wheel is rotatably connected to the machine body, and the first track wheel is provided with a first air extraction channel; The second track wheel is rotatably connected to the machine body. The second track wheel is provided with a pressure relief structure. In the walking direction of the self-moving device, the second track wheel is located behind the first track wheel. An annular track surrounds the first track wheel and the second track wheel, and meshes with the first track wheel and the second track wheel; The suction cups are provided in multiples, and the multiple suction cups are arranged at intervals along the circumference of the annular track on the outer side of the annular track. A negative pressure generator, wherein the negative pressure generator is connected to the first air extraction channel; The negative pressure generator draws negative pressure on the suction cup on the first track wheel through the first air extraction channel, so that the suction cup is adsorbed onto the working surface; the pressure relief structure is used to relieve pressure on the suction cup on the second track wheel, so that the suction cup is released from the working surface.

2. The self-moving device as described in claim 1, characterized in that, The suction cup includes a suction cup body and an air extraction valve. The suction cup body has a second air extraction channel for communicating with the first air extraction channel. The air extraction valve is installed in the second air extraction channel and controls the opening and closing of the second air extraction channel.

3. The self-moving device as described in claim 2, characterized in that, The second air extraction channel includes an air extraction hole and a mounting hole; the air extraction valve is an umbrella valve, which is installed in the mounting hole and covers the air extraction hole.

4. The self-moving device as described in claim 3, characterized in that, The air extraction holes are arranged at intervals around the mounting holes.

5. The self-moving device as described in any one of claims 2-4, characterized in that, The suction cup also includes a pressure relief valve, and the suction cup body also has a pressure relief channel. The pressure relief valve is installed in the pressure relief channel and blocks the pressure relief channel. The pressure relief valve opens the pressure relief channel in response to the triggering of the pressure relief structure.

6. The self-moving device as described in claim 5, characterized in that, The pressure relief channel includes a pressure relief hole, and the pressure relief valve includes a movable member and an elastic member. The movable member is movably installed in the pressure relief channel. When the movable member is in a first position, the movable member opens the pressure relief hole. When the movable member is in a second position, the movable member blocks the pressure relief hole. The elastic member is installed in the pressure relief channel and connected to the movable member so that the movable member is in the second position. The movable member moves to the first position in response to the triggering of the pressure relief structure.

7. The self-moving device as described in claim 6, characterized in that, The middle part of the movable component is rotatably installed in the pressure relief channel, and the first end of the movable component blocks the pressure relief hole; in response to the pressure relief structure triggering the second end of the movable component, the first end of the movable component opens the pressure relief hole.

8. The self-moving device as described in claim 7, characterized in that, The annular track has a first through hole corresponding to the suction cup position, and the second end of the movable part has a pressure-receiving part located in the first through hole. The pressure relief structure is a pressure relief protrusion, and the pressure relief protrusion and the pressure-receiving part are pushed together.

9. The self-moving device of claim 7, wherein, The pressure relief channel is provided with a rotating shaft, the movable part is rotatably mounted on the rotating shaft, and the elastic part includes a torsion spring sleeved on the rotating shaft.

10. The self-moving device of any of claims 7-9, wherein, A ring platform is provided at the pressure relief hole, and the first end of the movable part abuts against the ring platform to block the pressure relief hole.

11. The self-moving device of any one of claims 7-9, wherein, A sealing element is provided on the side of the first end of the movable part facing the pressure relief hole; and / or, a sealing element is provided on the side of the pressure relief hole facing the first end of the movable part.

12. The self-moving device as described in claim 5, characterized in that, The pressure relief valve includes a duckbill valve, and the pressure relief structure is a pressure relief rod, which can be inserted into and open the duckbill valve.

13. The self-mobiling device of claim 5, wherein, The distribution direction of the pressure relief channel and the second air extraction channel is parallel to the axial direction of the first track wheel.

14. The self-moving device of any of claims 1-13, wherein, The machine body includes a connecting part, on which a third air extraction channel is provided. The third air extraction channel is connected to the negative pressure generator. A notch is provided on the side of the connecting part near the working surface, and the third air extraction channel is connected to the first air extraction channel through the notch.

15. The self-moving device as described in claim 14, characterized in that, The first track wheel is provided with a connecting hole extending along the axial direction of the first track wheel. The first end of the first air extraction channel is located on the circumferential surface of the first track wheel, and the second end of the first air extraction channel communicates with the connecting hole. The connecting part is located in the connecting hole, and the notch faces the working surface. In the axial direction of the first track wheel, the notch is aligned with the second end of the first air extraction channel.

16. The self-moving device as described in claim 15, characterized in that, The negative pressure generator is installed on the machine body, and the first track wheel is also provided with a fourth air extraction channel. The fourth air extraction channel is connected to the third air extraction channel, and the negative pressure generator is connected to the fourth air extraction channel.

17. The self-mobiling device of claim 14, wherein, The first end of the first suction channel is located on the circumferential surface of the first track wheel, and the second end of the first suction channel is located on the side wall of the first track wheel on one side of the axial direction. The notch faces the second end of the first suction channel. In the radial direction of the first track wheel, the distance from the notch to the central axis of the first track wheel is the same as the distance from the second end of the first suction channel to the central axis of the first track wheel.

18. The self-moving device of any of claims 1-17, wherein, The first air extraction channel is arranged in multiple intervals along the circumference of the first track wheel, and the distance between the first ends of two adjacent first air extraction channels in the circumference of the first track wheel is the same as the distance between two adjacent suction cups.

19. The self-moving device of any of claims 1-17, wherein, Multiple pressure relief structures are arranged at intervals along the circumference of the second track wheel, and the distance between two adjacent pressure relief structures in the circumference of the second track wheel is the same as the distance between two adjacent suction cups.

20. The self-mobiling device of claim 1, wherein, The suction cup includes a suction cup body and a suction relief valve. The suction cup body has a suction relief channel, and the suction relief valve is installed in the suction relief channel and controls the cut-off and opening of the suction relief channel.

21. A self-moving system, characterized by, It includes a base station and a self-moving device as described in any one of claims 1-20, wherein the base station is used to place the self-moving device.

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