CN217118327U - Connection structure and cleaning machines people between cleaning module group - Google Patents

Abstract

The cleaning module comprises a cleaning element, a suction device and a driving device, the cleaning element is used for being in contact with a surface to be cleaned to perform a cleaning function, and an independent cavity is defined by the cleaning element and the surface to be cleaned; the bridge frame is arranged among the cleaning modules, the bridge frame is provided with connecting ends with the number corresponding to that of the cleaning modules and is connected with the cleaning modules in a one-to-one correspondence mode through the connecting ends, and at least one cleaning module is configured to deflect relative to the bridge frame, so that the rotating axes corresponding to the cleaning elements in the cleaning module can be staggered with the rotating axes corresponding to the cleaning elements in other cleaning modules to form an included angle.

Description

Connection structure and cleaning machines people between cleaning module

Technical Field

The utility model relates to a cleaning device technical field, in particular to connection structure and cleaning machines people between cleaning module.

Background

Chinese patent document CN102920393A discloses a cleaning machine for cleaning a plate, which is attached to the plate by forming a negative pressure between the cleaning machine and the plate. Specifically, the cleaning machine includes a link arm (i.e., a machine body) disposed between two cleaning elements, both of which are fixedly connected to the machine body, one of the cleaning elements is not rotated by a driving device, and the other cleaning element is driven to rotate in a first rotational direction, thereby generating a torsion force between the rotating cleaning element and the machine body, and the machine body is swung in a second rotational direction (which is opposite to the first rotational direction) by the torsion force, thereby performing a twisting-type travel of the cleaning machine on the plate member by alternately driving the two cleaning elements to rotate.

Chinese patent document CN104414573A discloses a window cleaning device with a similar structure, which uses a vacuum pump to generate negative pressure in a suction cup to adsorb the window cleaning device on glass, the adsorption rotating discs of the window cleaning device are connected with a machine body through bearings (the outer ring of the bearing is fixedly connected with the machine body, and the inner ring of the bearing is fixedly connected with the adsorption rotating discs), a control unit respectively controls the magnitude and direction of power output on the two adsorption rotating discs, and drives a pair of adsorption rotating discs to rotate or stop around a vertical shaft perpendicular to the surface of the glass, so that the two rotate alternately to form a high-speed end or a low-speed end, thereby forming a rotation speed difference, and enabling the window cleaning device to generate alternate twisting action, thereby realizing twisting walking of the window cleaning device.

The existing cleaning machine/window wiping device walking in a twisting mode almost adopts a connecting structure similar to the above patent, namely, the cleaning machine/window wiping device is adsorbed on the surface of a plate by two adsorption rotating disks and rigidly connects the two adsorption rotating disks into a whole so as to realize twisting type advancing on the plate. Because of this, almost all the twist-type cleaning apparatuses require the surface of the plate to be very flat, and when the plate is bent to form an arc, the gap between the suction turntable and the surface of the plate is increased to generate air leakage, which may cause the machine to fall off during the traveling process. In order to avoid the machine drop, it is common practice to provide a sensor to monitor the pressure change in the negative pressure region, and to immediately control the machine to turn around without continuing to advance once the negative pressure region pressure exceeds a set threshold. Therefore, most of the existing devices adopting the twisting type cleaning are not suitable for working on the surface of a plate with a certain radian.

SUMMERY OF THE UTILITY MODEL

The utility model discloses one of the technical problem that solves is through improving connection structure between the clean module to extend cleaning machines people's application scope.

In order to solve the technical problem, the utility model discloses a following technical scheme: a connecting structure between cleaning modules is used for connecting all cleaning modules arranged at intervals in a cleaning robot together; the cleaning module comprises a cleaning element, a suction device and a driving device, the cleaning element is used for being in contact with a surface to be cleaned to perform a cleaning function, and an independent cavity is defined by the cleaning element and the surface to be cleaned, the suction device is connected with the cavity and used for sucking air in the cavity to form negative pressure, so that the cleaning element is adsorbed on the surface to be cleaned, and the driving device is connected with the cleaning element and used for driving the cleaning element to rotate by taking an axis vertical to the surface to be cleaned as a rotating axis center; the cleaning module group comprises a plurality of cleaning modules, wherein the cleaning modules are arranged in a staggered mode, the number of the cleaning modules is equal to that of the cleaning modules, the bridge is provided with connecting ends, the connecting ends are connected with the cleaning modules in a one-to-one mode, and at least one cleaning module can deflect relative to the bridge, so that the rotating axes corresponding to the cleaning elements in the cleaning module can be staggered with the rotating axes corresponding to the cleaning elements in other cleaning modules to form an included angle.

In one embodiment, all the cleaning modules are configured to deflect relative to the bridge, and a deflection driving mechanism is further arranged between each cleaning module and the bridge, and the deflection driving mechanism is abutted or connected with the cleaning modules and the bridge and is used for applying deflection force to the cleaning modules to enable the cleaning elements of the cleaning modules to deflect, so that when the cleaning elements are placed on the surface to be cleaned, one side of the cleaning elements is firstly contacted with the surface to be cleaned, and after the cleaning elements are adsorbed on the surface to be cleaned, the pressure of the side on the surface to be cleaned is larger than that of other parts of the cleaning elements.

Furthermore, the number of the cleaning modules is two, two connecting ends are respectively arranged on two sides of the bridge frame, a rotating shaft is horizontally arranged at each connecting end, the cleaning modules are connected with the bridge frame through the rotating shafts, and the rotating shafts are perpendicular to rotating axes corresponding to the cleaning elements in the cleaning modules.

In one embodiment, the deflection driving mechanism includes an elastic member disposed between the bridge frame and the cleaning module, two ends of the elastic member respectively abut against the bridge frame and the cleaning module or two ends of the elastic member are respectively fixedly connected with the bridge frame and the cleaning module, and the elastic member which generates elastic deformation applies a deflection acting force to the cleaning module to cause the cleaning module to deflect.

In another embodiment, the deflection driving mechanism comprises mutually attractive or repulsive magnetic elements fixedly mounted on the bridge frame and the cleaning module, and the cleaning module is applied with a deflection force for promoting deflection thereof by attraction or repulsion between the magnetic elements.

Preferably, the magnetic assembly comprises an electromagnet, and a power supply circuit of the electromagnet is provided with a control switch for controlling the on-off of the circuit.

Wherein, the suction device is a negative pressure fan or a vacuum pump, and each chamber is independently connected with a negative pressure fan or a vacuum pump.

Finally, the utility model discloses still relate to the cleaning robot who contains the connection structure between the above-mentioned cleaning module.

With current cleaning machines people through the organism with each clean module rigid connection become a whole different, the utility model discloses configure into at least a clean module and can deflect for the crane span structure, correspondingly, other parts of machine (including crane span structure, other clean module etc.) also can deflect for this clean module. Adopt the connection structure that can deflect/float to make cleaning element laminate better and have the surface of treating of certain radian, when improving cleaning element and treating clean surface adsorption effect, reducing the machine and dropping, can guarantee clean effect better. In addition, when the existing machine is used for cleaning a flat surface to be cleaned, if solid attachments (such as solidified cement blocks, hard rubber blocks and the like) which are difficult to erase exist on the surface to be cleaned, even if the height of the solid attachments protruding from the surface to be cleaned is not high, the machine can misjudge the position of the solid attachments as a plate boundary (for preventing the machine from falling) because the cleaning element is pushed by the interference of the solid attachments, and after the connecting structure of the utility model is adopted, the solid attachments can be avoided within a certain range through the deflection/floating structure of the cleaning module, so that the situation of misjudgment caused by the interference is reduced. To sum up, adopt the utility model discloses a connection structure enables cleaning machines people to adapt to various clean environmental conditions better, has enlarged cleaning machines people's application scope.

Drawings

FIG. 1 is a schematic structural view of an outer shape of a cleaning robot according to embodiment 1-2;

FIG. 2 is a schematic view showing a connection structure between cleaning modules in example 1;

FIG. 3 is a schematic perspective view of a bridge in example 1;

fig. 4 is a schematic top view of the cleaning robot in embodiment 1;

FIG. 5 is a schematic cross-sectional view taken along the line A-A in FIG. 4;

FIG. 6 is a schematic side view of a cleaning robot according to embodiment 1;

FIG. 7 is a schematic view showing the cleaning robot in embodiment 1 being attracted to an arc-shaped surface to be cleaned;

FIG. 8 is a schematic diagram showing a movement locus of the cleaning robot on a surface to be cleaned in embodiment 1;

FIG. 9 is a schematic view showing the structure of the connection between the cleaning modules in example 2;

FIG. 10 is an enlarged view of a portion I of FIG. 9;

FIG. 11 is a schematic perspective view of a bridge according to example 2;

FIG. 12 is a schematic side view of a cleaning robot according to embodiment 2;

FIG. 13 is a first schematic view showing the first movement path of the cleaning robot on the surface to be cleaned in embodiment 2;

fig. 14 is a schematic diagram of a movement locus of the cleaning robot on the surface to be cleaned in embodiment 2.

In the figure:

1-cleaning element 2-suction device

3-drive unit 4-bridge

5-deflection driving mechanism 6-rotating shaft

Cleaning element # 1 a-Chamber 1-1

1-2 # cleaning element.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and simplification of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "1 #", "2 #", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

In order to facilitate a clearer understanding of the concept of the invention for those skilled in the art, a further description thereof is given below with reference to the accompanying drawings.

Example 1

Fig. 1, 4-7 show the appearance structure of the cleaning robot in this embodiment, fig. 2 shows the connection structure between the cleaning modules of the cleaning robot, wherein the cleaning modules mainly include cleaning elements 1, a suction device 2, a driving device 3, and a bridge 4 is provided between the cleaning modules (the bridge 4 is equivalent to a bracket connecting the cleaning modules, since the cleaning modules are independent from each other, the bracket connects the independent cleaning modules to each other to function like a connecting bridge, so called as a "bridge"), and the bridge 4 is provided with a number of connection terminals corresponding to the number of the cleaning modules and is connected with the cleaning modules one by one through the connection terminals. It should be noted that although the number of the cleaning modules is two in the above figures, it should be understood by those skilled in the art that in practical applications, the number of the cleaning modules may be configured as many as necessary, and only the simplest structure of the cleaning robot is shown in the figures. In addition, the suction device 2 includes, but is not limited to, a fan (negative pressure fan) or a vacuum pump, and the driving device 3 may be a motor (of course, a speed reducer may be connected to an output end of the motor as needed). Since the air duct and the control circuit of the cleaning robot in the embodiment are similar to those of the existing cleaning robot, the above description is omitted for the purpose of simplifying the description.

In the illustrated cleaning module, the cleaning element 1 is mainly used for contacting with the surface to be cleaned to perform a cleaning function and defining at least one chamber 1a with the surface to be cleaned. The cleaning elements 1 may also take the shape of a reuleaux triangle, in addition to the wheel disc shape as shown. Additionally, it should be understood by those skilled in the art that the surface to be cleaned as described above includes, but is not limited to, a surface of a flat panel (e.g., an upright glass window), a floor surface, or a curved surface with a curvature (e.g., a curved glass surface similar to a front bumper of an automobile). In the present embodiment, the cleaning elements 1 are adsorbed on the surface to be cleaned by the suction device 2, specifically, the suction device 2 is a negative pressure fan, the chambers 1a formed by the two cleaning elements 1 are independent of each other, the negative pressure fan is connected to the chambers 1a in a one-to-one manner, and when the negative pressure fan works, the negative pressure fan draws air in the chambers 1a to form negative pressure in the chambers 1a, so that the corresponding cleaning elements 1 are adsorbed on the surface to be cleaned. After each cleaning element 1 respectively adopts an independent negative pressure fan and the corresponding chambers 1a are independent, the adsorption force borne by each cleaning element 1 is not influenced mutually, even if a certain cleaning element 1 moves to the outside of the working area of the surface to be cleaned and leaks air, as long as one cleaning element 1 is in the safe working area, the cleaning element 1 in the safe working area can still be firmly adsorbed on the surface to be cleaned, the risk that the machine drops can not be generated, and the safety is higher. In addition, the cleaning element 1 performs the cleaning function and is powered by the driving device 3 connected with the cleaning element, the driving device 3 drives the cleaning element 1 to rotate by taking a shaft perpendicular to the surface to be cleaned as a rotating shaft center, so that the cleaning element 1 and the surface to be cleaned generate considerable displacement, and the cleaning element 1 wipes off particles attached to the surface to be cleaned under the action of friction. Like current cleaning machines people, above-mentioned suction device 2 and drive arrangement 3 can supply power through chargeable battery module, also can set up the power cord of external commercial power, supply power through the commercial power after the step-down processing, when adopting the commercial power supply, the battery module can regard as stand-by power supply, when the commercial power outage (for example have a power failure), suction device 2 and drive arrangement 3 switch over to the battery module power supply. Unlike the conventional cleaning robot in which the suction rotary tables are fixedly connected to form a whole through the body/housing, in this embodiment, the bridge 4 connects two cleaning modules, and both the two cleaning modules are configured to be able to deflect relative to the bridge 4. Specifically, the two cleaning modules are connected to the bridge 4 through two sets of rotating shafts 6 spaced apart from the bridge 4, and the rotating shafts 6 are perpendicular to the rotating axes corresponding to the cleaning elements 1 in the two cleaning modules. After any one cleaning module deflects, the rotating axis corresponding to the cleaning element 1 in the cleaning module and the rotating axis corresponding to the cleaning element 1 in the other cleaning module are staggered to form an included angle. The purpose of adopting the connection structure capable of deflecting/floating between the cleaning modules is mainly to enable the cleaning element 1 to be better attached to the surface to be cleaned with a certain radian so as to improve the adsorption effect of the cleaning element 1 and the surface to be cleaned, reduce the falling of the machine and ensure the cleaning effect, and the solid attachments existing on the surface to be cleaned can be avoided within a certain range through the deflection/floating of the cleaning element 1, so that the situation that the position of the solid attachments is mistakenly judged as a boundary by the machine due to the interference and pushing of the solid attachments and the cleaning element 1 is reduced. It should be clear that in another embodiment, it is also possible to configure only one of the cleaning modules so as to be able to deflect relative to the bridge 4, and, according to the principle of relativity of movement, the other parts of the machine (including the bridge 4, the other modules, etc.) can also deflect relative to this cleaning module, taking this as reference, which can also achieve the above-mentioned object.

Next, the motion control of the cleaning robot will be described in detail, and for convenience of description, the cleaning elements 1 of the two modules in the drawing are respectively numbered as cleaning elements 1-1 # 1 and 2# 1-2.

As shown in fig. 8, after the cleaning robot is attracted to the surface to be cleaned by the negative pressure generated by the suction device 2, the # 1 cleaning member 1-1 and the # 2 cleaning member 1-2 are respectively at the position a0 and the position B0 in the drawing.

Firstly, by respectively controlling the suction devices 2 corresponding to the 1# cleaning element 1-1 and the 2# cleaning element 1-2, the negative pressure of the chamber 1a corresponding to the 1# cleaning element 1-1 is larger than the negative pressure of the chamber 1a corresponding to the 2# cleaning element 1-2, and controlling the corresponding driving device 3 to drive the 1# cleaning element 1-1 and the 2# cleaning element 1-2 in the clockwise direction, the driving force applied by the driving device 3 should be within a proper range, for the 1# cleaning element 1-1, the driving force applied by the driving device 3 should be smaller than the maximum static friction force with the surface to be cleaned, for the 2# cleaning element 1-2, the driving force applied by the driving device 3 should be larger than the maximum static friction force with the surface to be cleaned, so that the 2# cleaning element 1-2 rotates with the axis vertical to the surface to be cleaned as the rotation axis, the No. 2 cleaning element 1-2 is displaced relative to the surface to be cleaned, while the No. 1 cleaning element 1-1 is held stationary relative to the surface to be cleaned, according to the principle of acting force and reaction force, the reaction force corresponding to the driving force applied to the # 1 cleaning element 1-1 (the reaction force is equal to the static friction force generated by the surface to be cleaned) acts on the bridge 4, since the sliding friction force of the # 2 cleaning member 1-2 rotating against the surface to be cleaned is smaller than the static friction force of the # 1 cleaning member 1-1 against the surface to be cleaned, driven by the above reaction force, the bridge 4 together with the # 2 cleaning element 1-2 will be centered on the # 1 cleaning element 1-1 and twisted in a counterclockwise direction, such that # 2 cleaning element 1-2 was moved to the B1 position and # 1 cleaning element 1-1 was still in the a0 position.

Then respectively controlling the suction devices 2 corresponding to the 1# cleaning element 1-1 and the 2# cleaning element 1-2 to make the negative pressure of the chamber 1a corresponding to the 1# cleaning element 1-1 smaller than the negative pressure of the chamber 1a corresponding to the 2# cleaning element 1-2, and controlling the corresponding driving device 3 to drive the 1# cleaning element 1-1 and the 2# cleaning element 1-2 along the counterclockwise direction, similar to the previous step, the driving force applied by the driving device 3 should be within a proper range, which is different from the previous step in that, in the present step, the driving force applied by the driving device 3 should be larger than the maximum static friction force with the surface to be cleaned for the 1# cleaning element 1-1, and smaller than the maximum static friction force with the surface to be cleaned for the 2# cleaning element 1-2, so that the No. 1 cleaning element 1-1 rotates around an axis perpendicular to the surface to be cleaned, the No. 1 cleaning element 1-1 and the surface to be cleaned are relatively displaced, and the No. 2 cleaning element 1-2 is kept stationary relative to the surface to be cleaned, and according to the principle of acting force and reacting force, the bridge 4 is acted on by the reacting force corresponding to the driving force applied to the No. 2 cleaning element 1-2 (the reacting force is equal to the static friction force generated by the surface to be cleaned), and because the sliding friction force of the rotating No. 1 cleaning element 1-1 and the surface to be cleaned is less than the static friction force of the No. 2 cleaning element 1-2 and the surface to be cleaned, under the driving of the reacting force, the bridge 4 and the No. 1 cleaning element 1-1 are twisted clockwise around the No. 2 cleaning element 1-2, such that # 1 cleaning element 1-1 was moved to the a1 position and # 2 cleaning element 1-2 was still in the B1 position.

By performing the above two steps alternately, it is possible to realize the twisting type travel of the cleaning robot on the surface to be cleaned. During the twisting type running process of the cleaning robot on the surface to be cleaned, the 1# cleaning element 1-1 and the 2# cleaning element 1-2 alternately rotate relative to the surface to be cleaned and wipe off the dirt particles attached to the surface to be cleaned, thereby realizing the cleaning operation of the surface to be cleaned.

Example 2

The cleaning robot in this embodiment also adopts the shape structure shown in fig. 1, fig. 9 shows the connection structure between the cleaning modules in this embodiment, and similarly to embodiment 1, the cleaning module in this embodiment also mainly includes a cleaning element 1, a suction device 2, a driving device 3 and a bridge 4. Referring to fig. 9-11, in the embodiment, both cleaning modules are configured to be capable of deflecting relative to the bridge 4, and similarly, both cleaning modules are connected to the bridge 4 through two sets of rotating shafts 6 spaced apart from each other on the bridge 4, and the rotating shafts 6 are perpendicular to the rotating axes corresponding to the cleaning elements 1 in the two cleaning modules.

The most significant difference between this embodiment and embodiment 1 is that a deflection driving mechanism 5 is further provided for applying a deflection force to the two cleaning modules to cause the two cleaning modules to deflect, so that when the cleaning elements 1 of the two cleaning modules are placed on the surface to be cleaned, one side of the cleaning elements is firstly contacted with the surface to be cleaned, and after the two cleaning elements 1 are adsorbed on the surface to be cleaned, the pressure of the side to be cleaned (i.e. the side which is firstly contacted with the surface to be cleaned) is greater than that of the other parts of the cleaning elements. Specifically, in the present embodiment, the deflection driving mechanisms 5 are respectively disposed between the bridge 4 and the two cleaning modules, as shown in fig. 9 and fig. 10, the deflection driving mechanisms 5 are coil springs disposed between the bridge 4 and the cleaning modules, lower ends of the coil springs abut against positioning holes disposed at the end of the bridge 4, upper ends of the coil springs abut against positioning holes disposed at the cleaning modules near the bridge 4, and the coil springs are in a compressed state (compression springs). Under the action of no other external force, as shown in fig. 12, one cleaning module of the cleaning robot deflects in the counterclockwise direction relative to the bridge 4 under the action of the elastic force of the corresponding pressure spring, and the other cleaning module deflects in the clockwise direction relative to the bridge 4 under the action of the elastic force of the corresponding pressure spring, so that the rotation axes corresponding to the cleaning elements 1 of the two cleaning modules are staggered to form an included angle. It should be noted that the helical spring is not limited to the above arrangement, but it may also be arranged so that the upper end is fixedly connected to the end of the bridge 4, and the lower end is fixedly connected to the portion of the cleaning module close to the bridge 4, so that the helical spring is in a stretched state (tension spring), and by the elastic force of the tension spring, one cleaning module can also be deflected in the counterclockwise direction with respect to the bridge 4, and the other cleaning module can be deflected in the clockwise direction with respect to the bridge 4, so as to assume the state shown in fig. 12.

Next, the movement control manner of the cleaning robot in the present embodiment will be described in detail, and for convenience of description, the cleaning elements 1 of the two cleaning modules in the figure are also numbered as # 1 cleaning elements 1-1 and # 2 cleaning elements 1-2, respectively. As shown in fig. 13, the cleaning robot can control the operation locus thereof in the same manner as in embodiment 1. As in embodiment 1, after the cleaning robot is attracted to the surface to be cleaned by the negative pressure generated by the suction device 2, the cleaning element # 1-1 and the cleaning element # 2 1-2 are respectively at the position a0 and the position B0 in the drawing. The pressure on the surface to be cleaned is greater at the far ends of the # 1 cleaning element 1-1 and the # 2 cleaning element 1-2 (the ends of the # 1 cleaning element 1-1 and the # 2 cleaning element 1-2 relatively far from the bridge 4, i.e., the positions of the lowest points of the # 1 cleaning element 1-1 and the # 2 cleaning element 1-2 in fig. 12) than at other portions of the surface to be cleaned.

Referring to the control procedure of example 1, the cleaning elements 1-1 and 2# 1-2 were moved to the positions a1 and B1 by driving the cleaning elements 1-1 and 2# 1-2 to twist. As shown in FIG. 13, during the twisting motion of the cleaning robot on the surface to be cleaned, the # 1 cleaning element 1-1 and the # 2 cleaning element 1-2 alternately rotate relative to the surface to be cleaned and wipe off dirt particles attached to the surface to be cleaned, thereby performing a cleaning operation on the surface to be cleaned. Unlike embodiment 1, in this embodiment, the coil spring for applying the deflecting force to the cleaning module is arranged so that when the cleaning elements 1-1 and 2# 1-2 are attracted to the surface to be cleaned, the pressure on the distal side of the cleaning elements 1-1 and 2# 1-2 is greater than that on the other portions of the cleaning elements, so that the reaction force applied to the distal side by the surface to be cleaned is greater than that on the other portions during the rotation of the cleaning elements 1-1 and 2# 1-2 relative to the surface to be cleaned, that is, the reaction force applied to the rotating cleaning element 1 (cleaning elements 1-1 or 2# 1-2) from the surface to be cleaned is unbalanced, and the reaction force applied to the entire cleaning element 1 corresponding to the surface to be cleaned forms a force for deflecting the cleaning element 1, thereby making it easier to effect a deflection of the cleaning element 1 about another cleaning element 1 which is stationary relative to the surface to be cleaned. Because the deflection is easier, the condition that the machine falls from the surface to be cleaned due to overlarge torsion in the advancing process can be greatly reduced, meanwhile, the driving force applied to the cleaning element 1 on the relatively static side by the driving device 3 can be correspondingly reduced, the output power of the suction device 2 is correspondingly reduced, the manufacturing cost of the cleaning robot can be saved by adopting the suction device 2 and the driving device 3 with lower power, the energy consumption required by the cleaning robot in the advancing process is reduced, and the effect of achieving multiple purposes is achieved.

In addition to the above-mentioned motion control manner, the above-mentioned cleaning robot can also be used for cleaning a horizontal surface to be cleaned (for example, a floor), the motion path is as shown in fig. 14, the 1# cleaning element 1-1 and the 2# cleaning element 1-2 are driven by the corresponding driving device 3 to rotate in opposite directions (one is in a counterclockwise direction, and the other is in a clockwise direction) relative to the surface to be cleaned, the 1# cleaning element 1-1 and the 2# cleaning element 1-2 are under the deflection acting force simultaneously exerted by the respective corresponding helical springs, and the resultant force of all the static friction forces exerted by the surface to be cleaned on the 1# cleaning element 1-1 and the 2# cleaning element 1-2 is greater than zero and is directed to one side of the cleaning robot, so that the cleaning robot travels straight along the direction of the resultant force. Of course, the travel track of the cleaning robot can be controlled by combining the mode with the twisting type travel.

It should be emphasized that the aforementioned deflection driving mechanism 5 is not limited to the structure of the coil spring, and may be other elastic components, and other components besides the elastic component, which can be disposed between the bridge frame 4 and the cleaning module and apply the deflection force to the cleaning module. In one embodiment, the deflecting actuator 5 may be magnetic elements that are fixedly mounted on the bridge 4 and the corresponding cleaning module and are attracted (relative to the tension spring) or repelled (corresponding to the compression spring), and the deflecting force can be applied to the cleaning module by attraction or repulsion between the magnetic elements. Preferably, the magnetic assembly comprises an electromagnet, and the deflection driving mechanism 5 can be regulated and controlled by controlling the on-off of a power supply circuit of the electromagnet. After the electromagnet is adopted as the deflection driving mechanism 5, the cleaning robot can move forward on the surface to be cleaned in a twisting mode in the following modes: first, the suction device 3 is controlled to make the negative pressure of the chamber 1a corresponding to the cleaning element 1-1 # 1 greater than the negative pressure of the chamber 1a corresponding to the cleaning element 1-2 # 2, and the power supply circuit of the electromagnet corresponding to the cleaning element 1-1 # 1 is opened, the power supply circuit of the electromagnet corresponding to the cleaning element 1-2 # 2 is closed, only one side of the cleaning element 1-2 # is made to have a pressure greater than or less than that of the other parts of the cleaning element 1-2, and the driving device 3 is controlled to apply a driving force of an appropriate magnitude to the cleaning elements 1-1 and 2# 1-2 in a clockwise direction, the requirement of the driving force "appropriate" in this embodiment is identical to that of embodiment 1 (i.e. one cleaning element 1 is made to be stationary with respect to the surface to be cleaned, and the other cleaning element 1 is made to rotate with respect to the surface to be cleaned), such that # 2 cleaning element 1-2 and bridge 5 are centered on # 1 cleaning element 1-1 and twisted in a counterclockwise direction. Then, the corresponding suction device 3 is controlled to make the negative pressure of the chamber 1a corresponding to the # 1 cleaning element 1-1 smaller than the negative pressure of the chamber 1a corresponding to the # 2 cleaning element 1-2, and the power supply circuit of the electromagnet corresponding to the # 1 cleaning element 1-1 is closed, the power supply circuit of the electromagnet corresponding to the # 2 cleaning element 1-2 is opened, the pressure of the surface to be cleaned on only one side of the # 1 cleaning element 1-1 is made larger or smaller than the pressure of the surface to be cleaned on the other parts thereof, and the corresponding driving device 3 is controlled to apply a driving force of an appropriate magnitude to the # 1 cleaning elements 1-1 and # 2 cleaning elements 1-2 in the counterclockwise direction, so that the # 1 cleaning element 1-1 and the bridge 5 are twisted in the clockwise direction centering on the # 2 cleaning element 1-2. The cleaning robot can move on the cleaning surface in a twisting mode by alternately executing the steps. After the electromagnet is adopted, the cleaning element 1 which is static relative to the surface to be cleaned is not subjected to deflection acting force in the twisting type advancing process, only the cleaning element 1 which rotates relative to the surface to be cleaned is subjected to deflection acting force, the static cleaning element 1 is stressed in a balanced manner and firmly adsorbed on the surface to be cleaned, only the reaction force from the surface to be cleaned, which is applied to the rotating cleaning element 1, is unbalanced, the rotating cleaning element 1 is enabled to deflect by taking the cleaning element 1 which is static relative to the surface to be cleaned as a center, and meanwhile, the risk that a cleaning robot falls off from the surface to be cleaned in the twisting type advancing process is further reduced.

The above embodiments are preferred implementations of the present invention, and any obvious replacement is within the protection scope of the present invention without departing from the concept of the present invention.

In order to make it easier for those skilled in the art to understand the improvement of the present invention over the prior art, some drawings and descriptions of the present invention have been simplified, and in order to clarify, some other elements have been omitted from this document, those skilled in the art should recognize that these omitted elements may also constitute the content of the present invention.

Claims (8)

1. Connection structure between the cleaning module group for each cleaning module group that interval set up in with cleaning robot links to each other together, its characterized in that:

the cleaning module comprises a cleaning element (1), a suction device (2) and a driving device (3), wherein the cleaning element (1) is used for being in contact with a surface to be cleaned to perform a cleaning function, and defines an independent chamber (1 a) with the surface to be cleaned, the suction device (2) is connected with the chamber (1 a) and is used for sucking air in the chamber (1 a) to form negative pressure, so that the cleaning element (1) is adsorbed on the surface to be cleaned, and the driving device (3) is connected with the cleaning element (1) and is used for driving the cleaning element (1) to rotate by taking an axis vertical to the surface to be cleaned as a rotation axis center;

the cleaning module group comprises a bridge frame (4), the bridge frame (4) is provided with connecting ends, the number of the connecting ends corresponds to the number of the cleaning modules, the connecting ends are connected with the cleaning modules in a one-to-one correspondence mode, and at least one cleaning module is configured to deflect relative to the bridge frame (4), so that the rotating axes corresponding to the cleaning elements (1) in the cleaning module group can be staggered with the rotating axes corresponding to the cleaning elements (1) in other cleaning modules to form an included angle.

2. A coupling structure between cleaning modules as set forth in claim 1, wherein: all the cleaning modules are configured to deflect relative to the bridge (4), a deflection driving mechanism (5) is further arranged between each cleaning module and the bridge (4), the deflection driving mechanism (5) is abutted or connected with the cleaning modules and the bridge (4) and is used for applying deflection acting force for enabling the cleaning modules to deflect to the cleaning modules, so that when the cleaning element (1) of the cleaning modules is placed on the surface to be cleaned, one side of the cleaning element is firstly contacted with the surface to be cleaned, and after the cleaning element (1) is adsorbed on the surface to be cleaned, the pressure of the side on the surface to be cleaned is larger than that of other parts of the cleaning element.

3. A coupling structure between cleaning modules as set forth in claim 2, wherein:

the cleaning device comprises two cleaning modules, wherein two connecting ends are arranged on two sides of the bridge (4), a rotating shaft (6) is horizontally arranged at each connecting end, the cleaning modules are connected with the bridge (4) through the rotating shafts (6), and the rotating shafts (6) are perpendicular to rotating axes corresponding to cleaning elements (1) in the cleaning modules.

4. A coupling structure between cleaning modules as set forth in claim 2 or 3, wherein: the deflection driving mechanism (5) comprises an elastic component arranged between the bridge frame (4) and the cleaning module, two ends of the elastic component respectively abut against the bridge frame (4) and the cleaning module or two ends of the elastic component are respectively fixedly connected with the bridge frame (4) and the cleaning module, and the elastic component which generates elastic deformation applies deflection acting force for enabling the cleaning module to deflect.

5. A coupling structure between cleaning modules as set forth in claim 2 or 3, wherein: the deflection driving mechanism (5) comprises mutually attractive or repulsive magnetic components fixedly arranged on the bridge (4) and the cleaning module, and a deflection acting force for promoting the deflection of the cleaning module is applied to the cleaning module by virtue of the attractive or repulsive action between the magnetic components.

6. A coupling structure between cleaning modules as set forth in claim 5, wherein: the magnetic assembly comprises an electromagnet, and a control switch for controlling the on-off of the circuit is arranged on a power supply circuit of the electromagnet.

7. A coupling structure between cleaning modules as set forth in claim 1, wherein: the suction device (2) is a negative pressure fan or a vacuum pump, and each chamber (1 a) is independently connected with one negative pressure fan or vacuum pump.

8. Cleaning machines people, its characterized in that: comprising a connecting structure between the cleaning modules according to any one of claims 1 to 7.

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