Gear mechanism, driving device, cleaning mechanism, cleaning equipment, cleaning base station and cleaning system

Abstract

The utility model provides a gear mechanism, a driving device, a cleaning mechanism, cleaning equipment, a cleaning base station and a cleaning system. The gear mechanism comprises a first gear, a second gear and a rotation driving part. The second gear has a meshing state of being meshed with the first gear and a separation state of being separated from the first gear, and the first gear at least drives the second gear to rotate from the first angle position to the second angle position in the first direction and / or to rotate from the second angle position to the first angle position in the second direction. The rotation driving piece drives the second gear to rotate from the first angle position to the third angle position in the second direction. Thus, the movement gap between the first gear and the second gear can be guaranteed, the service life of the gears and the cleaning equipment is effectively prolonged, the reliability of the cleaning equipment is effectively improved, and the fault rate of the cleaning equipment is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular, relates to a gear mechanism, a driving device, a cleaning mechanism, a cleaning equipment, a cleaning base station and a cleaning system. BACKGROUND

[0002] With the progress of science and technology, the application of movable cleaning devices in daily life is also more and more widely. The cleaning device is provided with a mop mechanism movable relative to the main body. Specifically, the mop mechanism can swing outward relative to the main body to move to an area closer to the corner and clean, and the mop mechanism can also be retracted inward relative to the main body after cleaning, thereby achieving a better cleaning effect.

[0003] In the related art, the outward swinging movement and the retraction movement of the mop mechanism are realized by different gears in the cleaning device, which are engaged or disengaged with each other. Due to the vibration caused by the operation of the cleaning device, or the friction force generated when contacting the surface to be cleaned, and other factors, the relative position between the different gears often deviates, and the gears are prone to collide when engaging, thereby greatly affecting the service life of the gears and the cleaning equipment, and increasing the failure rate of the cleaning equipment. UTILITY MODEL CONTENT

[0004] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present application, a gear mechanism is provided, which can be applied to a cleaning robot including a cleaning member. The gear mechanism is used to expand and retract the cleaning member. The gear mechanism includes a first gear, a second gear, and a rotation driving member. The second gear has an engaged state of engaging with the first gear and a disengaged state of disengaging from the first gear. The first gear drives the second gear to rotate at least in a first direction from a first angle position to a second angle position, and / or in a second direction from the second angle position to the first angle position. The second direction is opposite to the first direction, and the second gear is in the disengaged state when rotating in the second direction to the first angle position. The rotation driving member is connected with or synchronously rotates with the first gear. The rotation driving member is used to drive the second gear to rotate in the second direction from the first angle position to a third angle position. The second gear rotates in the second direction from the second angle position to the first angle position or the third angle position to retract the cleaning member. The second gear rotates in the first direction from the first angle position to the second angle position to expand the cleaning member.

[0005] The gear mechanism provided in the present application is in a disengaged state when the second gear rotates along the second direction to the first angular position, and the rotating driving member causes the second gear to continue to rotate along the second direction from the first angular position to the third angular position. In this way, when the gear mechanism rotates, the rotating driving member drives the second gear to continue to rotate along the second direction to the third angular position, so that the next time the first gear and the second gear are about to engage, a certain distance is formed between the teeth of the first gear and the second gear, that is, a motion gap is formed between the teeth of the first gear and the second gear. This motion gap can avoid the occurrence of tooth collision when the first gear and the second gear are relatively displaced, effectively improving the service life of the gears and the cleaning equipment, the reliability of the cleaning equipment, and reducing the failure rate of the cleaning equipment.

[0006] Illustratively, when the second gear rotates in the second direction to the first angular position, at least a portion of the rotation driving member contacts the second gear to drive the second gear to rotate to the third angular position.

[0007] Exemplarily, the first gear and the second gear are both sector gears.

[0008] Exemplarily, the rotary drive member includes a driving portion located at an end of the rotary drive member proximate to the second gear and configured to contact the second gear. The driving portion is disposed adjacent to the first gear and has a first state and a second state relative to the first gear, wherein the driving portion in the first state is closer to the first gear than in the second state.

[0009] Exemplarily, the rotary drive member is rotatably disposed beside the first gear, and the rotary drive member switches between the first state and the second state by swinging relative to the first gear.

[0010] Exemplarily, the gear mechanism drives the first gear to rotate through the drive assembly. After the drive assembly drives the first gear to rotate and drives the second gear to rotate in the second direction until the first gear and the second gear are disengaged, the drive assembly continues to drive the rotating drive member to rotate to drive the second gear to rotate from the first angular position to the third angular position.

[0011] Exemplarily, the drive assembly includes a drive motor and a driving gear, wherein a first output shaft of the drive motor is connected to the driving gear, a first gear is connected to the driving gear, and the driving gear and the first gear rotate synchronously, and the rotary drive member is rotatably connected to the driving gear via a rotating shaft.

[0012] Exemplarily, when the driving motor drives the active tooth and the first gear to rotate in the first direction, when the first gear rotates in the first direction to drive the second gear to rotate in the second direction to the first angular position, the first gear and the second gear are in a disengaged state, and the driving motor continues to drive the active tooth to rotate in the first direction through the first output shaft to drive the rotating drive member to continue to rotate in the first direction, so that the rotating drive member drives the second gear to rotate from the first angular position to the third angular position in the second direction.

[0013] Exemplarily, the rotation driving member further includes a first elastic member. When the driving portion is in a first state relative to the first gear, the first elastic member has an elastic force that causes the driving portion to switch from the first state to the second state relative to the first gear.

[0014] Exemplarily, the driving portion has a first tooth side and a second tooth side. Before the first gear rotates in the second direction to engage with the second gear, the second gear and the second tooth side abut against each other to put the driving portion in a first state. When the second gear is in a first angular position, the driving portion is in a second state relative to the first gear due to the action of elastic force, and the first tooth side abuts against the second gear to provide a force to the second gear.

[0015] Exemplarily, both the first gear and the second gear are sector gears. The first gear includes a first wheel body and a first tooth portion, the first wheel body having a first arcuate outer edge segment, the first tooth portion protruding outward from the first arcuate outer edge segment, and the first arcuate outer edge segment subtending a central angle of 60°-95°. The second gear includes a second wheel body and a second tooth portion, the second wheel body having a second arcuate outer edge segment, the second tooth portion protruding outward from the second arcuate outer edge segment, and the second arcuate outer edge segment subtending a central angle of 60°-95°. In a meshed state, the second tooth portion meshes with the first tooth portion.

[0016] Exemplarily, the first wheel body has a convex portion on a side away from the first tooth portion, and the rotating driving member has a matching portion on a side away from the driving portion. When the first gear rotates in a first direction and the second gear is at a first angular position, the convex portion and the matching portion abut against each other to drive the driving portion to rotate in the first direction.

[0017] Illustratively, the first wheel body is provided with a receiving cavity, and at least a portion of the first elastic member is disposed in the receiving cavity.

[0018] Exemplarily, a boss is provided on one side of the accommodating cavity away from the driving portion, and the other side is an opening. One end of the first elastic member is connected to the boss, and the other end of the first elastic member is a free end, or the other end of the first elastic member is connected to the driving portion.

[0019] Exemplarily, the rotation driving member further comprises a reset member, the reset member is a first magnetic attraction member, the driving part is provided with at least a second magnetic attraction member, when the first gear rotates to the second direction and engages with the second gear, the first magnetic attraction member provides a magnetic attraction force to the second magnetic attraction member, so that the driving part is in the second state relative to the first gear.

[0020] Exemplarily, the gear mechanism further comprises a second elastic member, when the second gear rotates to the first angle position along the second direction, the second gear abuts against the second elastic member, so that the second elastic member deforms and has a restoring force to rotate the second gear along the first direction when the second gear continues to rotate along the second direction.

[0021] Exemplarily, the second gear has an abutting part, the abutting part extends from an end of the second gear body away from the second gear part, and when the second gear rotates to the first angle position along the second direction, the abutting part abuts against the second elastic member.

[0022] Exemplarily, the rotation driving member comprises a third magnetic attraction member, and the second gear is provided with a fourth magnetic attraction member matched with the third magnetic attraction member, when the second gear rotates to the first angle position along the second direction, the third magnetic attraction member and the fourth magnetic attraction member are attracted to each other, so that the second gear is kept at the first angle position or the second gear rotates from the first angle position to the third angle position along the second direction.

[0023] According to another aspect of the present application, a driving device is further provided, comprising a motor, a first output shaft, a driving gear, a lifting driving mechanism, and the above-mentioned gear mechanism, the first output shaft is connected with the motor, the driving gear and the first gear are connected with the first output shaft, the lifting driving mechanism comprises a lifting driving gear and a lifting member connected with the cleaning member, the lifting output gear is engaged with the driving gear, and the driving gear drives the lifting member and the cleaning member to lift or drop by driving the lifting output gear to rotate.

[0024] According to another aspect of the present application, a cleaning mechanism is further provided, applied to a cleaning device, the cleaning device comprises a housing, the cleaning mechanism is arranged below the housing, comprising a cleaning member module and the above-mentioned driving device; the driving device has a first working state and a second working state, the cleaning member module lifts or drops the cleaning member when the driving device is in the first working state, and the cleaning member module expands or retracts the cleaning member when the driving device is in the second working state.

[0025] Exemplarily, when the driving device is in the first working state, the cleaning member module moves between a first position and a second position along the rotation axis of the cleaning member module itself, the first position is higher than the second position, and the cleaning member module moves from the first position to the second position along the rotation axis of the cleaning member module itself to lower the cleaning member, and the cleaning member module moves from the second position to the first position along the rotation axis of the cleaning member module itself to lift the cleaning member; and / or when the driving device is in the second working state, the cleaning member module is movable between an expanded position and a retracted position under the action of power transmitted by the first gear and the second gear, and the cleaning member cleans at the expanded position to clean blind spots that the cleaning member cannot reach at the retracted position.

[0026] Exemplarily, when the cleaning member module is in the extended position, the area of ​​the cleaning member outside the casing is larger than the area of ​​the cleaning member outside the casing when the cleaning member module is in the retracted position; and / or, the distance the cleaning member extends out of the casing is larger than the distance the cleaning member extends out of the casing when the cleaning member module is in the retracted position; and / or, the area outside the casing that can be cleaned by the cleaning member is S1, and when the cleaning member module is in the retracted position, the area outside the casing that can be cleaned by the cleaning member is S2, and S1 is larger than S2.

[0027] Illustratively, the cleaning element module swings about an axis parallel to the cleaning element module's own axis of rotation to extend and retract the cleaning elements.

[0028] According to another aspect of the present application, a cleaning device is provided, comprising a housing and the above-mentioned cleaning mechanism, wherein the cleaning mechanism is arranged in the housing.

[0029] Exemplarily, the casing has a widest outer edge, which is the two tangents of the projection of the cleaning device on the surface to be cleaned along the normal travel direction of the cleaning device. When the cleaning robot extends the cleaning part, the cleaning part module can swing until at least part of the cleaning part is located outside the widest outer edge of the casing.

[0030] According to another aspect of the present application, a cleaning base station is further provided, which has a docking position for the above-mentioned cleaning equipment to dock.

[0031] According to another aspect of the present application, a cleaning system is provided, characterized in that it includes the above-mentioned cleaning device and the above-mentioned cleaning base station, and the cleaning device can be selectively docked with the cleaning base station.

[0032] The content of this application introduces a series of simplified concepts, which will be further described in detail in the detailed description. This content of this application does not attempt to define the key features and essential technical features of the claimed technical solution, nor does it attempt to determine the scope of protection of the claimed technical solution.

[0033] The advantages and features of the present application are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The following drawings of this application are hereby incorporated as part of this application for understanding this application. The drawings show the embodiments of this application and their descriptions, and are used to explain the principles of this application. In the drawings,

[0035] Figure 1 shows a schematic structural diagram of a gear mechanism according to an exemplary embodiment of the present application;

[0036] Figure 2 Shown Figure 1 The back view of the middle gear mechanism after turning it over from top to bottom;

[0037] Figure 3 shows a schematic structural diagram of a driving unit in a first state according to an exemplary embodiment of the present application;

[0038] Figure 4 shows a schematic structural diagram of a driving unit in a second state according to an exemplary embodiment of the present application;

[0039] Figure 5a shows a gear mechanism state diagram (1) according to an exemplary embodiment of the present application;

[0040] Figure 5b shows a gear mechanism state diagram (II) according to an exemplary embodiment of the present application;

[0041] Figure 5c shows a gear mechanism state diagram (III) according to an exemplary embodiment of the present application;

[0042] Figure 5d shows a gear mechanism state diagram (four) according to an exemplary embodiment of the present application;

[0043] Figure 5e shows a gear mechanism state diagram (V) according to an exemplary embodiment of the present application;

[0044] Figure 5f shows a gear mechanism state diagram (VI) according to an exemplary embodiment of the present application;

[0045] Figure 6 shows a schematic structural diagram of a gear mechanism according to another exemplary embodiment of the present application;

[0046] Figure 7 Shown Figure 6 The back view of the middle gear mechanism after turning it over from top to bottom;

[0047] Figure 8 shows a schematic structural diagram of a driving device according to an exemplary embodiment of the present application;

[0048] Figure 9 A schematic structural diagram of a cleaning device according to an exemplary embodiment of the present application is shown;

[0049] Figure 10 A schematic structural diagram of a cleaning base station according to an exemplary embodiment of the present application is shown.

[0050] The above drawings include the following reference numerals:

[0051] 1. First gear; 11. First wheel body; 111. First arc-shaped outer edge segment; 112. Accommodating cavity; 1121. Boss; 113. Protrusion; 12. First tooth portion; 121. Second edge tooth; 2. Second gear; 21. Second wheel body; 211. Second arc-shaped outer edge segment; 22. Second tooth portion; 221. First edge tooth; 23. Pressing portion; 24. Fourth magnetic member; 3. Rotating driving member; 31. Driving portion; 311. First tooth side; 312. Second tooth side; 32. Rotating shaft; 33. First elastic member; 34. Fitting portion; 35. Third magnetic member; 4. Driving assembly; 41. Active tooth; 42. First output shaft; 5. Second elastic member; 6. Motor; 7. Lifting driving mechanism; 8. Cleaning member; 9. Housing; 10. Cleaning base station; A1. First direction; A2. Second direction DETAILED DESCRIPTION

[0052] In the following description, a large amount of details are provided to enable a thorough understanding of the present application. However, it will be appreciated by those skilled in the art that the following description is merely illustrative of preferred embodiments of the present application, and the present application may be implemented without one or more of these details. In addition, in order to avoid confusion with the present application, some technical features well known in the art are not described in detail.

[0053] To thoroughly understand the embodiments of the present application, a detailed structure will be provided in the following description. Obviously, the implementation of the embodiments of the present application is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present application are described in detail below, but in addition to these detailed descriptions, the present application may also have other embodiments.

[0054] Cleaning robots, floor scrubbers, etc. are cleaning devices that can clean the surface to be cleaned. They can wipe the surface to be cleaned through a cleaning component module provided on the body of the cleaning robot or floor scrubber. Taking the cleaning robot as an example, the cleaning component module may include a mop, which can contact the surface to be cleaned, and illustratively, the mop can rotate relative to the surface to be cleaned to wipe the surface to be cleaned. After creative work, the inventors discovered that the cleaning robots and floor scrubbers in the related art are provided with a cleaning component module that is movable relative to the main body, so that at least part of the mop can extend out of the main body, and the cleaning component module can be moved relative to the main body to an area closer to the wall for better cleaning. When it is necessary to clean the area near the edge of the wall, the cleaning component module can be swung outward so that the cleaning component 8 can cover the area near the edge of the wall. After cleaning is completed, the cleaning component module can be moved close to the center line of the width of the body of the cleaning robot to retract the cleaning component 8. However, in the related art, when the cleaning member 8 swings outward or retracts, the vibrations caused by the operation of the cleaning member 8 or the friction generated when it contacts the surface to be cleaned often cause the relative positions of the different gears in the cleaning member 8 to shift, which in turn easily causes tooth collisions when the gears mesh. This has a significant impact on the service life of the gears and the cleaning member 8, and increases the failure rate of the cleaning member 8.

[0055] To address the aforementioned technical issues, the inventors, after in-depth research, have proposed a gear mechanism that prevents gear collisions during operation of the cleaning element 8, thereby reducing the failure rate of the cleaning element 8 and improving its reliability. In one embodiment of the present application, a gear mechanism is provided. The gear mechanism can be used in the fields of household appliances or engineering manufacturing, and more specifically, in cleaning robots, sweeping and mopping robots, or electric mops. The gear mechanism of the present embodiment will be described in detail below with reference to the accompanying drawings.

[0056] See also Figure 1 and Figure 8 The gear mechanism can be applied to a cleaning robot, which includes a cleaning member 8 and a housing 9. The cleaning member 8 is disposed on the housing 9. The gear mechanism is used to expand and retract the cleaning member 8. The gear mechanism includes a first gear 1, a second gear 2, and a rotation drive member 3. It should be noted that when the cleaning member 8 is in the expanded position, the area of ​​the cleaning member 8 outside the housing 9 is greater than the area of ​​the cleaning member 8 outside the housing 9 when the cleaning member 8 is in the retracted position; and / or, the distance that the cleaning member 8 extends out of the housing 9 when the cleaning member 8 is in the expanded position is greater than the distance that the cleaning member 8 extends out of the housing 9 when the cleaning member 8 is in the retracted position; and / or, the area outside the housing 9 that can be cleaned by the cleaning member 8 is S1, and the area outside the housing 9 that can be cleaned by the cleaning member 8 when the cleaning member 8 is in the retracted position is S2, and S1 is greater than S2.

[0057] The second gear 2 is in meshing engagement with the first gear 1 (eg Figure 5c As shown, the second gear 2 is in a meshing state), and is in a disengaged state separated from the first gear 1 (as shown Figure 5a 、 Figure 5e and Figure 5f As shown, at this time, the second gear 2 is in a disengaged state), and the first gear 1 at least drives the second gear 2 along the first direction A1 (as shown Figure 1 A1 direction shown in FIG. 1 ) from a first angular position to a second angular position, and / or along a second direction A2 (as shown in FIG. Figure 1 The second gear 2 is rotated in the second direction A2 from the second angular position to the first angular position (in the direction A2 shown). The second direction A2 is opposite to the first direction A1, and the second gear 2 is disengaged when rotating in the second direction A2 to the first angular position. The rotation driving member 3 is connected to the first gear 1 or rotates synchronously with the first gear 1. The rotation driving member 3 is used to drive the second gear 2 to rotate in the second direction A2 from the first angular position to a third angular position.

[0058] The second gear 2 rotates in the second direction A2 from the second angular position to the first angular position or the third angular position to retract the cleaning member 8. The second gear 2 rotates in the first direction A1 from the first angular position to the second angular position to expand the cleaning member 8.

[0059] by Figure 1 In the illustrated embodiment, the first direction A1 may be represented as a direction of counterclockwise rotation, and the second direction A2 may be represented as a direction of clockwise rotation.

[0060] The first gear 1 can be connected to the driving member (the first gear 1 can also be called the driving gear). When the second gear 2 is engaged with the first gear 1, if the first gear 1 rotates clockwise under the drive of the driving member, the second gear 2 will rotate counterclockwise accordingly, and the cleaning member 8 can perform an outward swing motion under the drive of the second gear 2; when the second gear 2 is engaged with the first gear 1, if the first gear 1 rotates counterclockwise under the drive of the driving member, the second gear 2 will rotate clockwise accordingly, and the cleaning member 8 can perform a retraction motion under the drive of the second gear 2.

[0061] The first angular position can be expressed as the position of the second gear 2 when the teeth of the first gear 1 cut into the teeth of the second gear 2 before the second gear 2 rotates counterclockwise (e.g. Figure 5bAs shown, the second gear 2 is in the first angular position at this time). The second angular position can be represented by the position of the second gear 2 when the second gear 2 rotates counterclockwise to make the cleaning member 8 in the outward position, at which time the second gear 2 is in meshing state with the first gear 1. The third angular position can be represented by the position of the second gear 2 after the second gear 2 rotates clockwise, that is, when the second gear 2 is in the disengaged state with the first gear 1 (as shown). Figure 5e As shown, the second gear 2 is in the third angular position at this time). It can be understood that the rotation angle of the second gear when it rotates from the second angular position to the first angular position is smaller than the rotation angle of the second gear when it rotates from the second angular position to the third angular position.

[0062] After the second gear 2 is disengaged from the first gear 1, the rotating drive member 3 can drive the second gear 2 to rotate to a third angular position. This allows a certain amount of movement clearance to be formed between the teeth of the second gear 2 and the teeth of the first gear 1 when the teeth of the second gear 2 intersect with the teeth of the first gear 1. In this way, when the teeth of the first gear 1 enter the tooth groove between the two teeth of the second gear, they will not collide with the teeth of the second gear. Specifically, when the first gear 1 and the second gear 2 are meshed with each other, the teeth of the first gear 1 and the teeth of the second gear 2 can sequentially enter the tooth groove between them, thereby driving the outward swing movement of the cleaning member 8. However, due to the vibration generated by the cleaning robot when the second gear 2 is working or the friction generated by the cleaning member 8 and the surface to be cleaned, it may rotate counterclockwise by a certain angle, so that the teeth of the second gear 2 and the teeth of the first gear 1 arrive at the same position at the same time when they are about to engage, thereby causing the teeth of the second gear 2 to collide with the teeth of the first gear 1. The second gear 2 is driven to rotate to the third angular position by the rotating driving member 3, so that the next time the first gear 1 and the second gear 2 are about to engage, a movement gap is formed between the teeth of the second gear 2 and the teeth of the first gear 1. This movement gap can ensure that after the second gear 2 is vibrated, there is a certain distance between the teeth of the second gear 2 and the teeth of the first gear 1 when they are about to engage, so that the teeth of the second gear 2 and the teeth of the first gear 1 can smoothly enter the tooth groove when they engage, avoiding the occurrence of tooth collision when the second gear 2 and the first gear 1 engage again.

[0063] like Figure 5dAs shown, in the above embodiment, when the second gear 2 rotates to the first angular position along the second direction A2, the first gear 1 and the second gear 2 are in a disengaged state, at this time, the rotation driving member 3 drives the second gear 2 to rotate to the third angular position. In this way, when the gear mechanism rotates, the rotation driving member 3 can drive the second gear 2 to rotate to the third angular position, so that the next time the first gear 1 and the second gear 2 are about to engage, there is a certain distance between the teeth of the first gear 1 and the teeth of the second gear 2, that is, a movement gap is formed between the teeth of the first gear 1 and the teeth of the second gear 2, which can avoid the occurrence of the situation that the first gear 1 and the second gear 2 collide with each other, effectively improving the service life of the gear and the cleaning equipment, and the reliability and the failure rate of the cleaning equipment.

[0064] In some embodiments, in combination with reference to Figure 1 and Figure 5d, when the second gear 2 rotates to the first angular position along the second direction A2, at least a portion of the rotating driving member 3 contacts the second gear 2 to drive the second gear 2 to rotate to the third angular position. Since the second gear 2 rotates the actuator component (such as the cleaning component 8) driven by the transmission component, the transmission component between the second gear 2 and the actuator component may affect the rotation of the second gear 2 due to deformation or the gap between the components in the transmission component, or cause the second gear 2 to deviate from the position of meshing with the first gear 1. In addition, vibration of the cleaning component during operation of the cleaning robot may also cause the second gear 2 to deviate from the position of meshing with the first gear 1, that is, the second gear 2 rotates counterclockwise by a certain angle. When the second gear 2 rotates to the first angular position along the second direction A2, since the second gear 2 is disengaged from the first gear 1, ideally the second gear 2 will stop rotating and wait for the next time the first gear 1 rotates clockwise, when the teeth of the first gear 1 cut into the tooth grooves of the second gear 2 to complete the meshing of the first gear 1 and the second gear 2. However, due to the influence of the above factors, the position of the second gear 2 will not remain unchanged after the second gear 2 is disengaged from the first gear 1. Under the influence of the above factors, the second gear 2 will rotate counterclockwise by a certain angle, causing a tooth collision when the second gear 2 is meshed with the first gear 1 next time. A force member 3 is provided. The force member 3 can apply a force to the second gear 2 when the second gear 2 is disengaged from the first gear 1, so that the second gear 2 continues to rotate clockwise to the third angle position, or keeps the second gear 2 stable at the first angle position, thereby avoiding the situation where the second gear 2 rotates counterclockwise by a certain angle due to the vibration of the cleaning member 8 during displacement or cleaning, and the spacing between the second gear 2 and the first gear 1 becomes smaller, causing the two to mesh and collide again, thereby effectively ensuring the reliability of the gear mechanism. Specifically, under the action of the force member 3, the second gear 2 is stably maintained at the first angle position, and when the first gear 1 rotates clockwise, it can just mesh with the second gear without a tooth collision. After the second gear 2 is disengaged from the first gear 1, it rotates to the third angular position under the action of the force member 3. If the second gear 2 does not rotate counterclockwise by a certain angle due to the above factors, and the first gear 1 rotates clockwise, when the teeth of the first gear 1 cut into the tooth grooves of the second gear 2, the gap between the teeth of the first gear 1 and the teeth of the second gear 2 is relatively large, allowing the first gear 1 and the second gear 2 to mesh smoothly. After the second gear 2 is disengaged from the first gear 1, it rotates to the third angular position under the action of the force member 3. If the second gear 2 rotates counterclockwise by a certain angle due to the above factors, and the first gear 1 rotates clockwise, when the teeth of the first gear 1 cut into the tooth grooves of the second gear 2, there is still a certain gap between the teeth of the first gear 1 and the teeth of the second gear 2, allowing the first gear 1 and the second gear 2 to mesh smoothly.

[0065] In some embodiments, in conjunction with Figure 1 、 Figures 3 to 6 , the first gear 1 and the second gear 2 are both sector gears.

[0066] The sector gear can avoid the second gear 2 and the first gear 1 being always in meshing state, so that the second gear 2 and the first gear 1 can have meshing state and disengaging state. The sector gear can also reduce the fluctuation and vibration caused by gear rotation, which is beneficial to improve the stability and precision of transmission, and realizes the lightweight design of the gear mechanism.

[0067] In the above embodiment, the sector gear can make the second gear 2 and the first gear 1 have meshing state and disengaging state, which can effectively reduce the manufacturing cost of the gear and the weight of the gear mechanism while realizing the outward swinging movement and retracting movement of the cleaning member 8.

[0068] In some embodiments, in combination with Figure 1 , Figure 3 , Figure 4 , Figures 5a to 5f , the rotating driving member 3 includes a driving part 31, which is located at one end of the rotating driving member 3 close to the second gear 2, and is used to contact the second gear 2. The driving part 31 is arranged beside the first gear 1, and has a first state and a second state relative to the first gear 1. The driving part 31 in the first state is closer to the first gear 1 than the driving part 31 in the second state. As shown in Figure 5a , Figure 5b and Figure 5f , at this time, the driving part 31 is in the first state relative to the first gear 1, as shown in Figure 5c , Figure 5d and Figure 5e , at this time, the driving part 31 is in the second state relative to the first gear 1.

[0069] In combination with Figure 3 , Figure 5a and Figure 5b , when the first gear 1 rotates clockwise from the initial position (in the initial position, the first gear 1 and the second gear 2 do not mesh with each other) to the meshing state with the second gear 2, the first edge tooth 221 close to the driving part 31 on the second gear 2 abuts against the driving part 31 to limit the rotation of the driving part 31, and the driving part 31 rotates clockwise to gradually approach the second edge tooth 121 of the first gear 1. At this time, the driving part 31 has the first state relative to the first gear 1.

[0070] In combination with Figure 4 , Figure 5d and Figure 5eWhen the second gear 2 rotates clockwise and disengages from the first gear 1, the driving unit 31 can abut against the first edge tooth 221 of the second gear 2 near the driving unit 31 and apply a force to the first edge tooth 221, causing the second gear 2 to continue rotating clockwise. At this point, due to the reaction force of the first edge tooth 221, the driving unit 31 and the second edge tooth 121 of the first gear 1 near the driving unit 31 move away from each other. At this point, the driving unit 31 is in the second state relative to the first gear 1.

[0071] In the above embodiment, the driving portion 31 of the rotating driving member 3 can contact the second gear 2 so that the second gear 2 is in the first state and the second state. In the first state and the second state, a motion gap is formed between the teeth of the second gear 2 and the teeth of the first gear 1 when they are engaged, and the teeth of the first gear 1 can smoothly cut into the tooth grooves of the second gear, thereby ensuring that the engagement between the second gear 2 and the first gear 1 is smoother, effectively improving the smoothness and reliability of the rotation of the gear mechanism.

[0072] In some embodiments, in conjunction with Figure 1 、 Figure 3 、 Figure 4 5 , the rotary driving member 3 is rotatably disposed beside the first gear 1 , and the rotary driving member 3 switches between the first state and the second state by swinging relative to the first gear 1 .

[0073] In the above embodiment, the rotating drive member 3 can be rotatably arranged next to the first gear 1, so that the rotating drive member 3 can flexibly switch between the first state and the second state. When the gear mechanism is applied to the cleaning robot during the outward swing movement and the retraction movement, when the first gear 1 and the second gear 2 are engaged, there is a certain movement gap between the teeth of the second gear 2 and the teeth of the first gear 1, which avoids tooth collision and effectively ensures the reliability of the gear mechanism.

[0074] In some embodiments, in conjunction with Figure 1 、 Figure 5d and Figure 5e The gear mechanism drives the first gear 1 to rotate through the driving component 4. After the driving component 4 drives the first gear 1 to rotate and drives the second gear 2 to rotate along the second direction A2 until the first gear 1 and the second gear 2 are disengaged, the rotating driving member 3 drives the second gear 2 to rotate from the first angular position to the third angular position under the action of the driving component 4.

[0075] See also Figure 5d and Figure 5eWhen the first gear 1 and the second gear 2 are engaged with each other, when the driving component 4 drives the first gear 1 to rotate counterclockwise, the second gear 2 rotates clockwise accordingly until it disengages from the first gear 1; after the second gear 2 disengages from the first gear 1, the driving component 4 can continue to apply driving force to the rotating driving member 3, and the rotating driving member 3 rotates counterclockwise around its own rotating axis under the action of the driving force. At this time, the driving part 31 of the rotating driving member 3 abuts against the first edge tooth 221 of the second gear 2 close to the driving part 31, thereby pushing the second gear 2 from the first angular position to the third angular position.

[0076] In the above embodiment, based on the action of the drive assembly 4 and the rotating drive member 3, after the first gear 1 and the second gear 2 are disengaged, the second gear 2 can continue to rotate from the first angular position to the third angular position, so that when the first gear 1 and the second gear 2 are engaged next time, there is sufficient movement clearance between the teeth of the first gear 1 and the teeth of the second gear 2, further avoiding the situation of tooth collision when engaging again, thereby improving the stability of the gear mechanism operation.

[0077] In some embodiments, in conjunction with Figure 1 、 Figure 3 and Figure 4 The drive assembly 4 includes a drive motor (not shown) and a driving gear 41. The first output shaft 42 of the drive motor is connected to the driving gear 41. The first gear 1 is connected to the driving gear 41, and the driving gear 41 and the first gear 1 rotate synchronously. The rotating drive member 3 is rotatably connected to the driving gear 41 via the rotating shaft 32.

[0078] The drive motor can be connected to the first output shaft 42, and the driving tooth 41 can be sleeved on the first output shaft 42. When the drive motor drives the first output shaft 42 to rotate, the driving tooth 41 can synchronously rotate around the first output shaft 42. The rotation center of the first gear 1 can be set on the first output shaft 42, and the first gear 1 can be connected to the upper surface of the driving tooth 41. In this way, the first gear 1 can rotate synchronously when the driving tooth 41 rotates.

[0079] The rotating shaft 32 may be formed on the upper surface of the driving tooth 41 , and the rotating driving member 3 is sleeved on the rotating shaft 32 . The rotating driving member 3 may rotate around the rotating shaft 32 when subjected to force.

[0080] In the above embodiment, the driving motor can apply a driving force to the active tooth 41, and the active tooth 41 drives the first gear 1 to rotate to achieve the engagement and disengagement of the first gear 1 and the second gear 2, and the rotating driving member 3 can rotate under the drive of the active tooth 41 to ensure that the rotating driving member 3 can interact with the second gear 2. In this way, while ensuring the reliability of the gear mechanism, the connection structure of the gear mechanism is simplified.

[0081] In some embodiments, in conjunction with Figure 1 、 Figure 3 and Figure 4 When the first gear 1 rotates along the first direction A1 to drive the second gear 2 to rotate along the second direction A2 to the first angular position, the first gear 1 and the second gear 2 are in a disengaged state, and the driving motor continues to drive the active gear 41 to rotate along the first direction A1 through the first output shaft 42, thereby driving the rotating driving member 3 to continue rotating along the first direction A1, so that the rotating driving member 3 drives the second gear 2 to rotate from the first angular position along the second direction A2 to the third angular position.

[0082] When the driving motor drives the active tooth 41 and the first gear 1 to rotate counterclockwise, the second gear 2 meshing with the first gear 1 can synchronously rotate clockwise until the first gear 1 and the second gear 2 are disengaged, at which point the second gear 2 is in the first angular position. When the driving motor continues to drive the active tooth 41 to rotate counterclockwise, the rotating driving member 3 located on the upper surface of the active tooth 41 also rotates counterclockwise, so that the driving portion 31 of the rotating driving member 3 can abut against the first edge tooth 221 of the second gear 2 near the driving portion 31, and push the second gear 2 to continue rotating clockwise, at which point the second gear 2 can rotate from the first angular position to the third angular position.

[0083] In the above embodiment, the driving motor can drive the first gear 1 and the rotating driving member 3 to rotate along the first direction A1, so that the second gear 2 can continue to rotate from the first angular position to the third angular position after being disengaged from the first gear 1, thereby ensuring that there is sufficient movement clearance between the teeth of the first gear 1 and the teeth of the second gear 2 when they engage next time, so that the teeth of the first gear 1 cut into the tooth grooves of the second gear 2 to avoid tooth collision.

[0084] In some embodiments, in conjunction with Figure 3 and Figure 4 The rotation driving member 3 further includes a first elastic member 33. When the driving portion 31 is in the first state relative to the first gear 1, the first elastic member 33 has an elastic force that switches the driving portion 31 relative to the first gear 1 from the first state to the second state.

[0085] When the drive unit 31 is in the first state relative to the first gear 1, the drive unit 31 approaches the first gear 1 under the force of the second gear 2. The drive unit 31 transmits the force to the first elastic member 33. After being compressed, the first elastic member 33 exerts an elastic force, causing the drive unit 31 to move away from the first gear 1. In other words, the first elastic member 33 can apply an elastic force to the drive unit 31, causing the drive unit 31 to switch from the first state to the second state. In this way, when the first gear 1 and the second gear 2 are engaged, the drive unit 31 can switch to the second state. When the first gear 1 and the second gear 2 are disengaged, the drive unit 31 can apply a force to the first edge tooth 221 of the second gear 2 that is close to the drive unit 31, so that the second gear 2 maintains the first angular position.

[0086] The first elastic member 33 may be a spring, elastic rubber, etc. Any device that can undergo elastic deformation and has elastic force after being subjected to force is within the scope of this application, and this application does not impose any limitation on this.

[0087] In the above embodiment, the first elastic member 33 can switch the driving portion 31 from the first state to the second state after the driving portion 31 is subjected to a force. In this way, after the first gear 1 and the second gear 2 are engaged, the driving portion 31 can be displaced to the position in the second state and continue to participate in the subsequent disengagement movement. While simplifying the structure of the rotating driving member 3, it ensures the movement gap between the first gear 1 and the second gear 2 when they are engaged, effectively improving the reliability of the gear mechanism.

[0088] In some embodiments, in conjunction with Figure 1 、 Figure 3 and Figure 4 The driving portion 31 can be a one-way ratchet. Specifically, the driving portion 31 has a first tooth side 311 and a second tooth side 312. Before the first gear 1 rotates along the second direction A2 to engage with the second gear 2, the second gear 2 and the second tooth side 312 abut against each other to put the driving portion 31 in the first state; when the second gear 2 is in the first angular position, the driving portion 31 is in the second state relative to the first gear 1 due to the elastic force, and the first tooth side 311 abuts against the second gear 2 to provide a force to the second gear 2.

[0089] The first tooth side 311 is formed on a side of the driving portion 31 close to the first gear 1 , and the second tooth side 312 is formed on a side of the driving portion 31 facing away from the first gear 1 . The first tooth side 311 and the second tooth side 312 are connected.

[0090] The first tooth side 311 can abut against the first edge tooth 221 of the second gear 2 near the driving part 31 to provide a force to the second gear 2. The second tooth side 312 can abut against the first edge tooth 221 of the second gear 2 near the driving part 31 to put the driving part 31 in the first state. The end of the above-mentioned first edge tooth 221 is formed with an inclined surface corresponding to the first tooth side 311 and the second tooth side 312, so that when the first tooth side 311 and the second tooth side 312 of the driving part 31 respectively abut against the second gear 2, the driving part 31 can transmit the force to the second gear 2 while causing relative sliding between the driving part 31 and the second gear 2. In this way, the effective transmission of the force is guaranteed, and it is ensured that the driving part 31 and the second gear 2 will not get stuck and affect the operation of the gear mechanism.

[0091] In the above embodiment, the first tooth side 311 and the second tooth side 312 of the driving part 31 can form a good match with the second gear 2, which simplifies the structure of the driving part 31 and can meet different usage requirements during the operation of the gear mechanism, thereby reducing the difficulty and cost of manufacturing the gear mechanism.

[0092] In some embodiments, see Figure 1 The first gear 1 and the second gear 2 are both sector gears. The first gear 1 includes a first wheel body 11 and a first tooth portion 12. The first wheel body 11 has a first arcuate outer edge segment 111. The first tooth portion 12 protrudes outward from the first arcuate outer edge segment 111. The central angle subtended by the first arcuate outer edge segment 111 can be any angle between 60° and 95°, such as 60°, 65°, 70°, 75°, 80°, 85°, 90°, etc. The angle of the central angle subtended by the first arcuate outer edge segment 111 can be set according to actual conditions. The second gear 2 includes a second wheel body 21 and a second tooth portion 22. The second wheel body 21 has a second arcuate outer edge section 211. The second tooth portion 22 protrudes outward from the second arcuate outer edge section 211. The central angle subtended by the second arcuate outer edge section 211 can be any angle between 60° and 95°, such as 60°, 65°, 70°, 75°, 80°, 85°, 90°, etc. The central angle subtended by the second arcuate outer edge section 211 can be set according to actual conditions. In the meshing state, the second tooth portion 22 meshes with the first tooth portion 12.

[0093] The first tooth portion 12 is disposed on the first arcuate outer edge segment 111 and extends away from the center of the circle corresponding to the first arcuate outer edge segment 111. Similarly, the second tooth portion 22 is disposed on the second arcuate outer edge segment 211 and extends away from the center of the circle corresponding to the second arcuate outer edge segment 211.

[0094] In the above embodiment, the first gear 1 and the second gear 2 with the above shape can be engaged or disengaged when rotating a small angle, thereby effectively improving the efficiency of the outward swinging movement and the retraction movement of the cleaning member 8 when applied to a cleaning robot.

[0095] In some embodiments, referring to Figure 1 The first wheel body 11 has a protrusion 113 on the side away from the first tooth portion 12, and the rotating driving member 3 has a matching portion 34 on the side away from the driving portion 31. When the first gear 1 rotates in the first direction A1 and the second gear 2 is at the first angle position, the protrusion 113 abuts against the matching portion 34 to drive the driving portion 31 to rotate in the first direction A1.

[0096] The protrusion 113 can be formed on the first wheel body 11, and the protrusion 113 and the first wheel body 11 are located on opposite sides of the first output shaft 42. When the first gear 1 rotates counterclockwise around the first output shaft 42, the protrusion 113 and the first wheel body 11 can rotate counterclockwise synchronously.

[0097] The driving portion 31 and the matching portion 34 of the rotating driving member 3 are respectively arranged on opposite sides of the rotating shaft 32, and the rotating driving member 3 can rotate around the rotating shaft 32 when subjected to a force.

[0098] When the first gear 1 rotates counterclockwise and the second gear 2 rotates clockwise, the first gear 1 and the second gear 2 are in a disengaged state. At this time, the protrusion 113 of the first gear 1 abuts against the matching portion 34 of the rotating driving member 3. After the matching portion 34 is subjected to a force, it rotates counterclockwise around the rotating shaft 32 and drives the driving portion 31 to rotate counterclockwise. Thus, the driving portion 31 can drive the second gear 2 to rotate from the first angle position to the third angle position.

[0099] The shape of the matching portion 34 can be hook-shaped. When the protrusion 113 is driven to rotate by the first gear 1, the hook-shaped matching portion 34 can quickly abut against the protrusion 113, effectively reducing the stroke required when the protrusion 113 abuts against the matching portion 34. The specific shape of the matching portion 34 is not limited in the present application. Any matching portion 34 that can abut against the protrusion 113 of the first gear 1 is within the scope of the present application.

[0100] In the above embodiment, through the abutting cooperation between the protrusion 113 and the matching portion 34, the driving portion 31 can drive the second gear 2 to rotate from the first angle position to the third angle position. When the first gear 1 and the second gear 2 are engaged, the teeth of the first gear 1 and the teeth of the second gear 2 have sufficient movement clearance, which ensures the rotation effect of the gear mechanism while saving the consumption of driving power of the driving motor.

[0101] In some embodiments, referring to Figure 1 The first wheel body 11 is provided with an accommodating cavity 112 , and at least a portion of the first elastic member 33 is disposed in the accommodating cavity 112 .

[0102] The shape of the accommodating cavity 112 can be adapted to the curvature of the first arc-shaped outer edge segment 111. The first elastic member 33 is arranged in the accommodating cavity 112. When the rotating driving member 3 is in the first state relative to the first gear 1, the rotating driving member 3 applies a force to the first elastic member 33. The first elastic member 33 can apply a reaction force to the rotating driving member 3 so that the rotating driving member 3 has a driving force when switching from the first state to the second state.

[0103] In the above embodiment, at least a portion of the first elastic member 33 is disposed in the accommodating cavity 112 , which can simplify the connection structure of the first gear 1 and further simplify the structure of the gear mechanism.

[0104] In some embodiments, see Figure 1 The accommodating cavity 112 is provided with a boss 1121 on one side away from the driving portion 31, and is open on the other side. One end of the first elastic member 33 is connected to the boss 1121, and the other end of the first elastic member 33 is a free end. Of course, the other end of the first elastic member 33 can also be connected to the driving portion 31.

[0105] An opening may be provided on the other side of the accommodating cavity 112 so that the driving portion 31 can transmit force to the first elastic member 33 after receiving force.

[0106] One end of the first elastic member 33 can be connected to the boss 1121. Alternatively, one end of the first elastic member 33 can be sleeved outside the boss 1121 and connected to the side of the accommodating cavity 112 away from the driving portion 31. The other end of the first elastic member 33 can be separated from or connected to the driving portion 31.

[0107] In the above embodiment, when the first elastic member 33 is subjected to force, since one end of the first elastic member 33 is connected to the accommodating cavity 112, the first elastic member 33 can accumulate elastic force and release the elastic force through the other end of the first elastic member 33 to ensure that the rotating driving member 3 has sufficient reaction force.

[0108] See also Figures 5a to 5f When the gear mechanism in the above embodiment is applied to a cleaning robot, the operation process is as follows:

[0109] When the cleaning robot needs to perform an outward swing movement, refer to Figures 5a to 5c , the first gear 1 and the second gear 2 are meshed with each other, and the first gear 1 rotates clockwise to drive the cleaning member 8 to swing outward. When the cleaning robot needs to retract, refer to Figures 5d to 5f, the first gear 1 rotates counterclockwise until the first gear 1 and the second gear 2 are disengaged from each other, thereby driving the cleaning member 8 to retract inward.

[0110] In the above embodiment, the reset of the driving part 31 is achieved by an elastic member. In other embodiments, the rotating driving member 3 may further include a reset member (not shown in the figure), the reset member is a first magnetic member, and at least a part of the driving part 31 is configured as a second magnetic member. After the first gear 1 rotates in the second direction A2 and engages with the second gear 2, the first magnetic member provides a magnetic force to the second magnetic member, so that the driving part 31 is in the second state relative to the first gear 1.

[0111] The reset member can be disposed on the upper surface of the active tooth 41 and located on opposite sides of the driving portion 31 from the first gear 1. The driving portion 31 can be configured as a second magnetic member. A magnetic attraction force can be generated between the first and second magnetic members to cause the driving portion 31 to move relative to the reset member.

[0112] When the first gear 1 rotates clockwise and engages with the second gear 2, the first gear 1 can drive the driving part 31 to rotate synchronously in the clockwise direction. At this time, the driving part 31 moves to the area where the magnetic force of the reset part is located, and generates a mutual magnetic attraction force through the second magnetic part and the reset part with the first magnetic part, thereby making the driving part 31 in the second state.

[0113] The first magnetic attraction component and the second magnetic attraction component can be the north pole and south pole of a magnet, or a magnet and a ferromagnetic object, respectively. Any object that can generate a magnetic attraction between the two is within the scope of this application, and this application does not impose any restrictions on this.

[0114] In the above embodiment, the driving part 31 can be placed in the second state through the magnetic force between the first magnetic part and the second magnetic part. Therefore, when the first gear 1 and the second gear 2 are disengaged, the first tooth side 311 of the driving part 31 can be pressed against the second gear 2 to provide a force to the second gear 2 to ensure that the second gear 2 is in the first angular position, thereby ensuring the reliability of the operation of the gear mechanism while simplifying the connection structure of the gear mechanism.

[0115] In some embodiments, see Figure 1 and Figure 2 The gear mechanism also includes a second elastic member 5. When the second gear 2 rotates to the first angular position along the second direction A2, the second gear 2 and the second elastic member 5 are offset from each other, so that when the second gear 2 continues to rotate along the second direction A2, the second elastic member 5 is deformed and has a restoring force that causes the second gear 2 to rotate along the first direction A1.

[0116] An accommodating cavity may be provided on the other side of the mounting member on which the first gear 1 is mounted. The second elastic member 5 may be disposed in the accommodating cavity. A side of the accommodating cavity close to the second gear 2 may be open.

[0117] When the second gear 2 rotates clockwise to the first angular position, the second gear 2 contacts the second elastic member 5, compressing the second elastic member 5. As the second gear 2 continues to rotate clockwise, the second elastic member 5 applies a restoring force to the second gear 2, preventing the second gear 2 from rotating too far clockwise and causing a tooth collision when the first gear 1 and the second gear 2 re-engage.

[0118] In the above embodiment, the second elastic member 5 can apply elastic force to the second gear 2 when the second gear 2 rotates clockwise too much to correct the rotation position of the second gear 2, thereby effectively improving the accuracy and reliability of the gear mechanism rotation.

[0119] In some embodiments, in conjunction with Figure 2 and Figure 5d The second gear 2 has a pressing portion 23, which extends from one end of the second wheel body 21 away from the second tooth portion 22. When the second gear 2 rotates along the second direction A2 to the first angular position, the pressing portion 23 abuts against the second elastic member 5.

[0120] The second gear 2 can rotate around its own rotation axis in the first direction A1 or the second direction A2. When the second gear 2 rotates clockwise around the rotation axis, the pressing portion 23 can be displaced toward the direction close to the accommodating cavity. Conversely, when the second gear 2 rotates counterclockwise around the rotation axis, the pressing portion 23 can be displaced toward the direction away from the accommodating cavity.

[0121] In the above embodiment, when the second gear 2 rotates clockwise to the first angular position, the pressing portion 23 can abut against the second elastic member 5. After the second elastic member 5 is compressed, it can apply a reaction force to the second gear 2 to avoid the second gear 2 from rotating at an excessively large angle when rotating clockwise, thereby effectively ensuring the accuracy of the rotation of the second gear 2.

[0122] In the present application, the rotation driving member 3 is not limited to applying the force by direct contact, but can also be applied by non-direct contact. Figure 6 and Figure 7 The rotating driving member 3 includes a third magnetic member 35, and the second gear 2 is provided with a fourth magnetic member 24 adapted to the third magnetic member 35. When the second gear 2 rotates along the second direction A2 to the first angular position, the third magnetic member 35 and the fourth magnetic member 24 are attracted to each other, so that the second gear 2 remains at the first angular position or rotates from the first angular position along the second direction A2 to the third angular position.

[0123] The third magnetic member 35 can be disposed in the accommodating cavity, and the fourth magnetic member 24 can be disposed at an end of the second wheel body 21 away from the second tooth portion 22 . A magnetic attraction force can be generated between the third magnetic member 35 and the fourth magnetic member 24 .

[0124] When the second gear 2 rotates clockwise to the first angular position, the third magnetic component 35 and the fourth magnetic component 24 can be attracted to each other, and the second gear 2 can be stabilized at the first angular position under the action of the magnetic force to ensure that there is sufficient clearance between the second gear 2 and the first gear 1.

[0125] When the magnetic attraction between the third magnetic member 35 and the fourth magnetic member 24 is strong, and the second gear 2 rotates clockwise to the first angular position, the second gear 2 can continue to rotate clockwise driven by the magnetic attraction, so that the second gear 2 continues to rotate from the first angular position to the third angular position, thereby further increasing the gap between the second gear 2 and the first gear 1.

[0126] The third magnetic component 35 and the fourth magnetic component 24 can be the north pole and south pole of a magnet, or a magnet and a ferromagnetic object, respectively. Any object that can generate a magnetic attraction between the two is within the scope of this application, and this application does not impose any restrictions on this.

[0127] In the above embodiment, the magnetic attraction between the third magnetic member 35 and the fourth magnetic member 24 allows the second gear 2 to be stabilized at the first angular position or rotated from the first angular position to the third angular position when the first gear 1 and the second gear 2 are disengaged. This allows sufficient clearance to be created between the teeth of the first gear 1 and the teeth of the second gear 2 when the first gear 1 and the second gear 2 are engaged, allowing the teeth of the first gear 1 to penetrate the tooth grooves of the second gear 2. Furthermore, the magnetic attraction effectively simplifies the connection structure between the first gear 1 and the second gear 2, reducing the difficulty in manufacturing the gear mechanism.

[0128] According to another aspect of the present application, see Figure 8 , a driving device is also provided, including a motor 6, a first output shaft 42, a driving tooth 41, a lifting drive mechanism 7, and the above-mentioned gear mechanism, the first output shaft 42 is connected to the motor 6, the driving tooth 41 and the first gear 1 are both connected to the first output shaft 42, the lifting drive mechanism 7 includes a lifting drive tooth and a lifting member connected to the cleaning member 8, the lifting output tooth is engaged with the driving tooth 41, and the driving tooth 41 drives the lifting output tooth to rotate to drive the lifting member and the cleaning member 8 to lift or lower.

[0129] When the lifting output teeth are engaged with the active teeth 41, the active teeth 41 can drive the lifting output teeth to rotate to drive the lifting member to rise and fall, thereby driving the cleaning member 8 to rise or fall. When the cleaning device is in a non-cleaning state, the cleaning member module can be lifted to avoid contact between the cleaning member module and the surface to be cleaned. When the cleaning device is in a cleaning state, the cleaning member module can be lowered to use the cleaning member module to effectively clean the surface to be cleaned.

[0130] The driving device of the present application includes the gear mechanism as described above. Since the gear mechanism as described above has the beneficial effects as described above, the driving device including the gear mechanism as described above must also have the beneficial effects as described above.

[0131] See Figure 9 According to another aspect of the present application, a cleaning mechanism is also provided, which is applied to a cleaning device. The cleaning device includes a housing 9, and the cleaning mechanism is arranged below the housing 9, including a cleaning member module and the above-mentioned driving device; the driving device has a first working state and a second working state. When the driving device is in the first working state, the cleaning member module lifts the cleaning member 8 or lowers the cleaning member 8, and when the driving device is in the second working state, the cleaning member module expands the cleaning member 8 or retracts the cleaning member 8.

[0132] The cleaning mechanism of the present application includes the driving device as described above. Since the driving device as described above has the beneficial effects as described above, the cleaning mechanism including the driving device as described above must also have the beneficial effects as described above.

[0133] In some embodiments, when the driving device is in the first working state, the cleaning member module moves between a first position and a second position along the rotation axis of the cleaning member module itself, the first position is higher than the second position, and the cleaning member module moves from the first position to the second position along the rotation axis of the cleaning member module itself to lower the cleaning member 8, and the cleaning member module moves from the second position to the first position along the rotation axis of the cleaning member module itself to lift the cleaning member 8; and / or when the driving device is in the second working state, the cleaning member module can move between an expanded position and a retracted position under the action of the power transmitted by the first gear 1 and the second gear 2, and the cleaning member 8 cleans at the expanded position to clean the blind spots that the cleaning member 8 cannot reach at the retracted position.

[0134] The first position and the second position can represent different height positions of the cleaning member module, for example, the first position represents the height position of the cleaning member module when it is lifted, and the second position represents the height position of the cleaning member module when it contacts the surface to be cleaned.

[0135] When the driving device is in the first working state, the cleaning member module is lifted or lowered along the rotation axis of the cleaning member module itself, and when the driving device is in the second working state, the cleaning member module swings around an axis parallel to the rotation axis of the cleaning member module itself to expand or retract the cleaning member 8.

[0136] In the above embodiment, the cleaning member module can move between a first position and a second position and swing around an axis parallel to the rotation of the cleaning member module itself, i.e., the lifting and outward swinging of the cleaning member module are realized. When it is necessary to clean the surface to be cleaned, the cleaning mechanism can be in a conventional cleaning state of the surface to be cleaned. At this time, by lowering the cleaning member module, the cleaning member module can be brought into contact with the surface to be cleaned and the cleaning member module can be rotated to clean. When the cleaning mechanism faces obstacles such as carpets and door sills, the cleaning member module can be lifted to separate the surface to be cleaned and placed in a non-cleaning state, and obstacle avoidance can be performed by lifting the cleaning member module 11. When the cleaning mechanism is located at obstacles such as the edge of a wall, a carton, a table leg, or an area that is difficult to clean such as a narrow gap, the cleaning mechanism can make the cleaning member module outwardly swing (i.e., the cleaning module moves outward toward the side of the cleaning device), so that the cleaning member module can be closer to these difficult-to-clean areas, and the cleaning coverage area is larger to clean, thereby improving the cleaning effect.

[0137] In some embodiments, when the cleaning member module is in the extended position, the area of ​​the cleaning member 8 outside the casing 9 is larger than the area of ​​the cleaning member 8 outside the casing 9 when the cleaning member module is in the retracted position; and / or, the distance that the cleaning member 8 extends out of the casing 9 is larger than the distance that the cleaning member 8 extends out of the casing 9 when the cleaning member module is in the retracted position; and / or, the area outside the casing 9 that can be cleaned by the cleaning member 8 is S1, and when the cleaning member module is in the retracted position, the area outside the casing 9 that can be cleaned by the cleaning member 8 is S2, and S1 is larger than S2.

[0138] In the above embodiment, the cleaning range of the cleaning member 8 when the cleaning member module is in the extended position is greater than the cleaning range of the cleaning member 8 when the cleaning member module is in the retracted position, which effectively ensures the cleaning effect when cleaning obstacles along the edge, or narrow gaps and other areas that are difficult to clean.

[0139] In some embodiments, the cleaning element module swings about an axis parallel to the cleaning element module's own axis of rotation to extend the cleaning element 8 and retract the cleaning element 8 .

[0140] In the above embodiment, the cleaning member module can swing around an axis parallel to the rotation axis of the cleaning member module itself to achieve the outward expansion and retraction movement of the cleaning member 8, effectively ensuring the practicality of the cleaning member module.

[0141] According to another aspect of the present application, see Figure 9, also provides a cleaning device, including a housing 9 and the above-mentioned cleaning mechanism, and the cleaning mechanism is arranged in the housing 9.

[0142] The gear mechanism can be arranged in the cleaning mechanism, and the cleaning mechanism can be arranged in the casing 9. The casing 9 can effectively protect the gear mechanism to avoid malfunction caused by external factors.

[0143] The cleaning device of the present application includes the cleaning mechanism described above. Since the cleaning mechanism described above has the beneficial effects described above, the cleaning device including the cleaning mechanism described above must also have the beneficial effects described above.

[0144] In some embodiments, the housing 9 has a widest outer edge, which is the two tangents of the projection of the cleaning device on the surface to be cleaned along the normal travel direction of the cleaning device. When the cleaning robot extends the cleaning element 8 outward, the cleaning element module can swing until at least part of the cleaning element 8 is located outside the widest outer edge of the housing 9.

[0145] When the cleaning device is cleaning near a wall edge, the cleaning member module can be extended to the widest outer edge of the housing 9 so that the cleaning member module can cover difficult-to-clean locations such as wall corners, thereby enabling the cleaning device to have a better cleaning effect.

[0146] According to another aspect of this application, see Figure 10 , a cleaning base station 10 is also provided, and the cleaning base station 10 has a docking position for docking the above-mentioned cleaning equipment.

[0147] To facilitate the maintenance of the cleaning device, a cleaning base station 10 is provided to match the cleaning robot and the floor scrubber. The cleaning base station 10 can be used to perform at least one of the following functions on the cleaning device: charging, dust collection, cleaning the cleaning parts 8, etc. The cleaning robot or floor scrubber can form a cleaning system with the cleaning base station 10.

[0148] The cleaning base station 10 can be used to store cleaning equipment, charge cleaning equipment, etc., and can also realize different functions such as human-computer interaction with users. The use of cleaning equipment in conjunction with the cleaning base station 10 can better enhance the function and user experience of the cleaning equipment.

[0149] The cleaning base station 10 of the present application includes a cleaning device, and the cleaning device includes the cleaning mechanism described above. Since the cleaning device described above has the beneficial effects described above, the cleaning base station 10 including the cleaning device described above must also have the beneficial effects described above.

[0150] According to another aspect of the present application, a cleaning system is provided, comprising the above-mentioned cleaning device and the above-mentioned cleaning base station 10 , wherein the cleaning device can be selectively docked with the cleaning base station 10 .

[0151] The cleaning system of the present application includes a cleaning device, and the cleaning device includes the cleaning mechanism described above. Since the cleaning device described above has the beneficial effects described above, the cleaning system including the cleaning device described above must also have the beneficial effects described above.

[0152] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front", "back", "up", "down", "left", "right", "horizontal", "vertical", "vertical", "horizontal", "top", "bottom", etc. are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0153] For ease of description, area-relative terms such as "on...", "above...", "on the upper surface...", "above", etc. may be used herein to describe the regional positional relationship between one or more components or features shown in the figures and other components or features. It should be understood that area-relative terms include not only the orientation of the components as described in the figures, but also different orientations during use or operation. For example, if the components in the drawings are inverted as a whole, the situation where the components are "above other components or features" or "above other components or features" will include the situation where the components are "below other components or structures" or "below other components or structures". Thus, the exemplary term "above..." may include both the orientations "above..." and "below...". In addition, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document is intended to include all of these situations.

[0154] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, parts, components and / or combinations thereof.

[0155] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0156] The present application has been described through the above-described embodiments, but it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. In addition, it will be understood by those skilled in the art that the present application is not limited to the above-described embodiments, and that various variations and modifications may be made based on the teachings of the present application, all of which fall within the scope of protection claimed in the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A gear mechanism, characterized in that: Applied to a cleaning robot, the cleaning robot includes a cleaning member, the gear mechanism is used to expand and retract the cleaning member, and the gear mechanism includes: First gear; a second gear, the second gear having an engaged state with the first gear and a disengaged state separated from the first gear, the first gear at least driving the second gear to rotate along a first direction from a first angular position to a second angular position, and / or along a second direction from the second angular position to the first angular position, the second direction being opposite to the first direction, and the second gear being in the disengaged state when rotating along the second direction to the first angular position; and a rotation driving member connected to the first gear or rotating synchronously with the first gear, the rotation driving member being configured to drive the second gear to rotate along the second direction from the first angular position to a third angular position; Wherein, the second gear rotates along the second direction, from the second angular position to the first angular position or the third angular position, to retract the cleaning member; the second gear rotates along the first direction, from the first angular position to the second angular position, to expand the cleaning member.

2. The gear mechanism according to claim 1, wherein: When the second gear rotates along the second direction to the first angular position, at least a portion of the rotation driving member contacts the second gear to drive the second gear to rotate to the third angular position.

3. The gear mechanism according to claim 1, wherein: The first gear and the second gear are both sector gears.

4. The gear mechanism according to any one of claims 1 to 3, characterized in that: The rotary drive member includes a driving portion, the driving portion is located at one end of the rotary drive member close to the second gear and is used to contact the second gear; The driving portion is disposed beside the first gear and has a first state and a second state relative to the first gear. The driving portion in the first state is closer to the first gear than in the second state.

5. The gear mechanism according to claim 4, wherein: The rotation driving member is rotatably disposed beside the first gear, and the rotation driving member switches between the first state and the second state by swinging relative to the first gear.

6. The gear mechanism according to claim 1, wherein: The gear mechanism drives the first gear to rotate through the driving assembly. After the driving assembly drives the first gear to rotate and drives the second gear to rotate along the second direction until the first gear and the second gear are disengaged, the driving assembly continues to drive the rotation driving member to rotate to drive the second gear to rotate from the first angular position to the third angular position.

7. The gear mechanism according to claim 6, wherein: The driving assembly includes a driving motor and a driving gear, and the first output shaft of the driving motor is connected to the driving gear; The first gear is connected to the driving gear, and the driving gear and the first gear rotate synchronously. The rotation driving member is rotatably connected to the driving gear via a rotating shaft.

8. The gear mechanism according to claim 7, wherein: In the case where the driving motor drives the active tooth and the first gear to rotate along the first direction, when the first gear rotates along the first direction to drive the second gear to rotate along the second direction to the first angular position, the first gear and the second gear are in a disengaged state, and the driving motor continues to drive the active tooth to rotate along the first direction through the first output shaft to drive the rotation driving member to continue to rotate along the first direction, so that the rotation driving member drives the second gear to rotate from the first angular position along the second direction to a third angular position.

9. The gear mechanism according to claim 4, wherein: The rotation driving member further includes a first elastic member. When the driving portion is in the first state relative to the first gear, the first elastic member has an elastic force that causes the driving portion to switch from the first state to the second state relative to the first gear.

10. The gear mechanism according to claim 9, wherein: The driving portion has a first tooth side and a second tooth side, and before the first gear rotates in the second direction to engage with the second gear, the second gear abuts against the second tooth side to place the driving portion in the first state; When the second gear is at the first angular position, the driving portion is in the second state relative to the first gear due to the elastic force, and the first tooth side abuts against the second gear to provide an urging force to the second gear.

11. The gear mechanism according to claim 10, wherein: The first gear includes a first wheel body and a first tooth portion, the first wheel body having a first arc-shaped outer edge segment, the first tooth portion protruding outward from the first arc-shaped outer edge segment, and the first arc-shaped outer edge segment subtends a central angle of 60°-95°; The second gear includes a second wheel body and a second tooth portion, the second wheel body has a second arc-shaped outer edge segment, the second tooth portion protrudes outward from the second arc-shaped outer edge segment, and the central angle opposite to the second arc-shaped outer edge segment is 60°-95°. In the meshing state, the second tooth portion meshes with the first tooth portion.

12. The gear mechanism according to claim 11, wherein: The first wheel body has a convex portion on a side away from the first tooth portion, and the rotating driving member has a matching portion on a side away from the driving portion. When the first gear rotates along the first direction and the second gear is at the first angular position, the convex portion and the matching portion abut against each other to drive the driving portion to rotate along the first direction.

13. The gear mechanism according to claim 11, wherein: The first wheel body is provided with a receiving cavity, and at least a portion of the first elastic member is disposed in the receiving cavity.

14. The gear mechanism according to claim 13, wherein: The accommodating cavity is provided with a protruding column on one side away from the driving part, and an opening on the other side; One end of the first elastic member is connected to the boss, and the other end of the first elastic member is a free end, or the other end of the first elastic member is connected to the driving portion.

15. The gear mechanism according to claim 4, wherein: The rotating driving member also includes a reset member, which is a first magnetic member. At least a portion of the driving part is configured as a second magnetic member. After the first gear rotates in the second direction and engages with the second gear, the first magnetic member provides a magnetic force to the second magnetic member, so that the driving part is in the second state relative to the first gear.

16. The gear mechanism according to claim 11, wherein: The gear mechanism also includes a second elastic member. When the second gear rotates along the second direction to the first angular position, the second gear and the second elastic member are offset from each other, so that when the second gear continues to rotate along the second direction, the second elastic member is deformed to have a restoring force that causes the second gear to rotate along the first direction.

17. The gear mechanism according to claim 16, wherein: The second gear has a pressing portion extending from an end of the second wheel body away from the second tooth portion. When the second gear rotates along the second direction to the first angular position, the pressing portion abuts against the second elastic member.

18. The gear mechanism according to claim 2, wherein: The rotating driving member includes a third magnetic member, and the second gear is provided with a fourth magnetic member that is compatible with the third magnetic member. When the second gear rotates along the second direction to the first angular position, the third magnetic member and the fourth magnetic member are attracted to each other, so that the second gear remains at the first angular position or rotates from the first angular position along the second direction to the third angular position.

19. A driving device, characterized in that: It includes a motor, a first output shaft, a driving tooth, a lifting drive mechanism, and the gear mechanism described in any one of claims 1 to 18, the first output shaft is connected to the motor, the driving tooth and the first gear are both connected to the first output shaft, the lifting drive mechanism includes a lifting drive tooth and a lifting member connected to the cleaning member, the lifting output tooth is engaged with the driving tooth, and the driving tooth drives the lifting output tooth to rotate to drive the lifting member and the cleaning member to lift or lower.

20. A cleaning mechanism, applied to a cleaning device, wherein the cleaning device comprises a housing, and the cleaning mechanism is disposed below the housing, wherein: comprising a cleaning element module and the driving device according to claim 19; The driving device has a first working state and a second working state. When the driving device is in the first working state, the cleaning member module lifts the cleaning member or lowers the cleaning member, and when the driving device is in the second working state, the cleaning member module expands the cleaning member or retracts the cleaning member.

21. The cleaning mechanism according to claim 20, characterized in that When the driving device is in the first working state, the cleaning member module moves along the rotation axis of the cleaning member module between a first position and a second position, the first position being higher than the second position, the cleaning member module moves along the rotation axis of the cleaning member module from the first position to the second position to lower the cleaning member, and the cleaning member module moves along the rotation axis of the cleaning member module from the second position to the first position to raise the cleaning member; and / or When the driving device is in the second working state, the cleaning member module can move between an extended position and a retracted position under the action of the power transmitted by the first gear and the second gear. The cleaning member cleans at the extended position to clean the blind spots that the cleaning member cannot reach at the retracted position.

22. The cleaning mechanism according to claim 21, characterized in that When the cleaning member module is in the outwardly extended position, the area of ​​the cleaning member outside the housing is larger than the area of ​​the cleaning member outside the housing when the cleaning member module is in the retracted position; and / or, the distance that the cleaning member extends out of the housing is greater than the distance that the cleaning member extends out of the housing when the cleaning member module is in the retracted position; And / or, the area outside the housing that can be cleaned by the cleaning member is S1, and when the cleaning member module is in the retracted position, the area outside the housing that can be cleaned by the cleaning member is S2, and S1 is greater than S2.

23. The cleaning mechanism according to claim 21, wherein: The cleaning element module swings around an axis parallel to the rotation axis of the cleaning element module itself to expand and retract the cleaning element.

24. A cleaning device, characterized in that: The cleaning device comprises a housing and the cleaning mechanism described in any one of claims 20 to 23, wherein the cleaning mechanism is arranged in the housing.

25. The cleaning device according to claim 24, characterized in that The housing has a widest outer edge, which is the two tangents of the projection of the cleaning device on the surface to be cleaned along the normal travel direction of the cleaning device. When the cleaning robot extends the cleaning element outward, the cleaning element module can swing until at least part of the cleaning element is located outside the widest outer edge of the housing.

26. A cleaning base station, characterized in that: The cleaning base station has a docking position for the cleaning device according to claim 24 to dock.

27. A cleaning system, characterized in that: The cleaning device comprises the cleaning device according to claim 24 or 25 and the cleaning base station according to claim 26, wherein the cleaning device can be selectively docked with the cleaning base station.

Images