Drive modules, cleaning devices, and cleaning robots

Abstract

This application provides a drive module, a cleaning device, and a cleaning robot. The mounting bracket has a shaft hole, and a connecting part is provided on the outer side of the mounting bracket. The connecting part connects at least a fixing sleeve. A controller is mounted on the mounting bracket, and a drive component is mounted on the mounting bracket. The controller and the drive component are electrically connected. The drive component has an output shaft, and the output shaft of the drive component passes through the shaft hole of the mounting bracket. The brushless motor direct drive method can completely solve a series of drawbacks caused by brushed motors combined with gearboxes. System efficiency and service life can be effectively improved, operating noise and size can be effectively reduced, and maintenance costs can be greatly reduced. The integrated design of the motor bracket and flange into a single structure reduces the number of parts in the overall module while reducing the overall thickness of the module, enabling compatibility with ultra-thin main units.

Description

Technical Field

[0001] This application relates to the field of home appliance technology, and in particular to drive modules, cleaning devices, and cleaning robots. Background Technology

[0002] Cleaning robots are specialized robots designed to serve humans, primarily performing household cleaning and washing tasks. They can include sweeping and mopping robots, floor sweepers, and more. However, in dual-disc floor sweepers, the dual-disc mop pads are driven by a standard brushed motor and gearbox, a method that has significant drawbacks in efficiency, lifespan, and intelligence.

[0003] For example, brushed motors suffer from significant energy loss due to carbon brush friction and commutator contact resistance, resulting in low overall efficiency. Gearboxes themselves experience mechanical friction losses; for instance, worm gear transmissions typically have efficiency below 70%, further reducing system efficiency. Carbon brushes need replacement every 1000 to 2000 hours of operation, otherwise power loss and increased noise occur. After lubrication failure in a closed gearbox (approximately one year), tooth wear leads to increased noise, decreased transmission efficiency, and eventual seizure. Sweepers require factory disassembly for gear or carbon brush replacement, making user maintenance difficult and resulting in high after-sales costs. Furthermore, noise and vibration control are difficult, leading to a poor user experience. The friction between carbon brushes and the commutator produces a continuous high-frequency hissing sound, while worn gears produce a low-frequency clicking sound. Actual measurements show that brushed motors generally have operating noise levels exceeding 65dB. This noise difference is particularly noticeable during nighttime cleaning, directly impacting product usability. In addition, they occupy a larger space; the combined volume of a standard motor and gearbox exceeds 50cm². 3 The multi-stage transmission mechanism takes up battery compartment space, making it difficult to balance range and cleanliness. Utility Model Content

[0004] Therefore, it is necessary to provide a drive module, a cleaning device, and a cleaning robot to address at least one of the aforementioned technical problems.

[0005] This application provides a driving module, the driving module comprising:

[0006] An assembly bracket is provided with a shaft hole, and at least one connecting part is provided on the outer side of the assembly bracket, the connecting part being configured to connect at least a fixing sleeve.

[0007] A control device, wherein the control device is disposed on the assembly bracket;

[0008] A driving device configured as a brushless driver, the driving device being mounted on the mounting bracket, the controller being electrically connected to the driving device, the driving device having an output shaft passing through a shaft hole in the mounting bracket.

[0009] In one embodiment, the connecting portion is configured for connecting the fixing sleeve and the base of the cleaning robot; or,

[0010] The connecting part is configured to connect the fixed sleeve and the external swing bracket, and at least one of the mounting bracket, the fixed sleeve and the external swing bracket is configured to move under the driving action of the external swing driver.

[0011] In one embodiment, the connecting portion is configured to project laterally from a sidewall of the mounting bracket; and / or,

[0012] The connecting part is provided with a threaded hole; and / or

[0013] The number of connecting parts is configured to be several, and the several connecting parts are distributed along the outer periphery of the mounting bracket. The several connecting parts include at least one first connecting part and at least one second connecting part. The first connecting part is configured to connect to a fixing sleeve, and the second connecting part is configured to connect to the base or outward swing bracket of the cleaning robot.

[0014] In one embodiment, the drive module includes:

[0015] A lifting bushing, configured for driving a connected cleaning assembly;

[0016] A drive sleeve is provided, wherein the output shaft of the drive device is drivenly connected to the drive sleeve, and the drive sleeve is threadedly driven to the lifting shaft sleeve, and is configured to drive the lifting shaft sleeve to reciprocate linearly along the central axis of the output shaft.

[0017] In one embodiment, the drive module includes a cleaning assembly, which includes a cleaning disc and a cleaning element, the cleaning element being mounted on the cleaning disc and the cleaning disc being mounted on the lifting bushing.

[0018] In one embodiment, the lifting bushing includes an inner bushing and an outer bushing, the inner bushing being fitted inside the outer bushing and connected to the outer bushing; wherein, an annular sleeve space is formed between the outer wall of the inner bushing and the outer wall of the outer bushing, the driving sleeve is driven and fitted in the sleeve space of the lifting bushing, and the cleaning disc is fitted to the inner bushing.

[0019] In one embodiment, at least one of the inner bushing and the outer bushing is provided with a threaded structure, and the drive sleeve is provided with a drive protrusion. The drive sleeve is threadedly driven into contact with the threaded structure of at least one of the inner bushing and the outer bushing via the drive protrusion; and / or

[0020] The inner bushing and the cleaning disc are magnetically connected via a magnetic drive component; and / or,

[0021] The distal end of the inner bushing is connected to the distal end of the outer bushing, and the proximal end of the inner bushing and the proximal end of the outer bushing form an annular opening communicating with the bushing space; wherein, the distal end of the inner bushing and the distal end of the outer bushing are configured away from the mounting bracket, and the proximal end of the inner bushing and the proximal end of the outer bushing are configured close to the mounting bracket; and / or,

[0022] The axial length of the inner bushing is less than the axial length of the outer bushing; and / or,

[0023] The proximal end of the drive sleeve is closed, and the distal end of the drive sleeve is open. A power transfer groove is provided at the proximal end of the drive sleeve, and the output shaft of the drive device is driven to insert into the power transfer groove. The distal ends of the inner and outer bushings are configured to be away from the mounting bracket, and the proximal ends of the inner and outer bushings are configured to be close to the mounting bracket.

[0024] In one embodiment, the drive module includes:

[0025] A fixed sleeve is sleeved on the outer periphery of the lifting bushing, and the mounting bracket is connected to the fixed sleeve.

[0026] A damping kit is fitted between the fixed sleeve and the lifting bushing.

[0027] In one embodiment, the driving device is configured as a brushless motor; and / or,

[0028] The controller is configured as a circuit board; and / or,

[0029] The drive module includes a motor cover that covers the outside of the drive device and is connected to the mounting bracket; and / or,

[0030] The controller is configured as a ring structure and is fitted around the periphery of the drive device.

[0031] This application provides a cleaning device, which includes the drive module.

[0032] This application provides a cleaning robot, the cleaning robot comprising:

[0033] The drive module; or

[0034] The cleaning device.

[0035] The aforementioned drive module, cleaning device, and cleaning robot all use a brushless motor direct drive method instead of a brushed motor with a gearbox. This completely solves the series of drawbacks of using a brushed motor with a gearbox. Compared to the brushed motor with gearbox solution, the system efficiency and service life can be effectively improved, the operating noise and size can be effectively reduced, and the maintenance cost can be greatly reduced.

[0036] Furthermore, the aforementioned mounting bracket, in addition to fulfilling the function of a motor bracket, also incorporates improvements to the ordinary bracket structure. Existing motor brackets require a connecting flange, which then connects to the motor, and finally the motor bracket connects to the base. This application combines the functions of the motor bracket and the flange into one, integrating the flange's connection function into the mounting bracket. This connection function is manifested in the addition of a threaded hole connection portion to the mounting bracket, allowing it to function as both a motor bracket for assembling the motor and a flange for connection. For example, the added connection portion can be used to connect a fixing sleeve via the threaded hole. This integrated structural design, combining the motor bracket and flange, reduces the number of components in the overall module while lowering its overall thickness, enabling compatibility with ultra-thin mainframes and effectively reducing the overall module height. Attached Figure Description

[0037] Figure 1 This is a front view of a drive module provided in one embodiment of this application.

[0038] Figure 2 For example Figure 1 The diagram shows an AA cross-sectional view of the drive module.

[0039] Figure 3 For example Figure 1 A 3D view of the drive module shown.

[0040] Figure 4 For example Figure 1 The exploded view of the drive module shown in the first-person perspective.

[0041] Figure 5 For example Figure 1 The exploded view of the drive module shown in the second perspective.

[0042] Figure 6 This is a front view of a lifting bushing provided in one embodiment of this application.

[0043] Figure 7 For example Figure 6 The BB section view of the lifting bushing is shown.

[0044] Figure 8 For example Figure 6 The first-view perspective stereoscopic view of the drive module shown.

[0045] Figure 9 For example Figure 6 The second-view perspective stereoscopic view of the drive module shown.

[0046] Figure 10 A front view of a drive module provided in another embodiment of this application.

[0047] Figure 11 For example Figure 10 A 3D view of the drive module shown.

[0048] Figure 12 This is a front view of the assembly structure of the drive module and cleaning disk provided in one embodiment of this application.

[0049] Figure 13 For example Figure 12 The shown is a CC cross-sectional view of the drive module and cleaning disk.

[0050] Figure 14 For example Figure 12 The diagram shows an assembly perspective of the drive module and cleaning disc.

[0051] Figure 15 This is a schematic diagram of the cleaning disc in a non-outward-swinging state of a cleaning robot provided in one embodiment of this application.

[0052] Figure 16 This is a schematic diagram showing the cleaning tray swinging outwards in a cleaning robot according to one embodiment of this application.

[0053] Icon labels:

[0054] 10. Cleaning robot; 20. Cleaning tray;

[0055] 21. Cleaning parts;

[0056] 100. External swing bracket; 200. External swing actuator;

[0057] 1000. Assembly bracket; 2000. Controller; 3000. Drive device; 4000. Lifting bushing; 5000. Drive sleeve; 6000. Fixed sleeve; 7000. Damping kit; 8000. Motor cover;

[0058] 1100, Connecting part; 1110, Threaded hole;

[0059] 3100, Output shaft;

[0060] 4001, nested space; 4002, annular opening; 4100, inner bushing; 4200, outer bushing; 4300, magnetic component;

[0061] 5100, Power Adapter Slot. Detailed Implementation

[0062] To make the above-mentioned objects, features, and advantages of the embodiments of this application more apparent and understandable, the specific implementation methods of the embodiments of this application will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the embodiments of this application. However, the embodiments of this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the embodiments of this application. Therefore, the embodiments of this application are not limited to the specific embodiments disclosed below.

[0063] In the description of the embodiments of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "outer periphery" appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the embodiments of this application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application.

[0064] Furthermore, the terms "first" and "second" appearing are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. In the description of the embodiments of this application, the term "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0065] In the embodiments of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can be a mechanical connection or an electrical connection; they can be a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0066] In the embodiments of this application, unless otherwise explicitly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0067] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in the embodiments of this application are for illustrative purposes only and do not represent the only implementation.

[0068] See Figures 1 to 11As shown, this application embodiment provides a drive module, which includes components such as a mounting bracket 1000, a controller 2000, and a drive device 3000. The controller 2000 is disposed on the mounting bracket 1000, and the drive device 3000 is mounted on the mounting bracket 1000. The controller 2000 and the drive device 3000 are electrically connected. The mounting bracket 1000 has a shaft hole, and the drive device 3000 has an output shaft 3100, which passes through the shaft hole of the mounting bracket 1000. In one embodiment, the drive device 3000 is configured as a motor, and is a brushless direct-drive motor, without a gearbox for driving. The controller 2000 is configured as a circuit board, which can be configured as a ring structure so that the circuit board can be fitted onto the outer periphery of the drive device 3000. The drive module includes a motor cover 8000, which covers the outside of the drive device 3000 and is connected to the mounting bracket 1000.

[0069] In one embodiment, one or more connecting portions 1100 are provided on the outer side of the mounting bracket 1000. The connecting portions 1100 can adopt various structures. For example, in one embodiment, the connecting portion 1100 can be configured as a protrusion extending laterally from the sidewall of the mounting bracket 1000. Its connection function can be achieved based on snap-fit, adhesive, threaded connection, etc. For example, the connecting portion 1100 has one or more threaded holes 1110. Moreover, depending on actual assembly requirements, the number of connecting portions 1100 is configured to be several, and the several connecting portions 1100 are distributed along the outer periphery of the mounting bracket 1000.

[0070] The drive module provided in this application embodiment can be adapted to both external and non-external swing structures according to usage requirements. Therefore, in different embodiments, the mounting bracket 1000 can be connected to the fixing sleeve 6000 via the connecting portion 1100, and selectively connected to the base of the cleaning robot or the external swing bracket 100. For example, when adapted to a non-external swing structure, the connecting portion 1100 of the mounting bracket 1000 can connect the fixing sleeve 6000 and the base of the cleaning robot 10. When adapted to an external swing structure, the connecting portion 1100 of the mounting bracket 1000 can connect the fixing sleeve 6000 and the external swing bracket 100.

[0071] See Figure 3 and Figure 11As shown, the number of connecting portions 1100 is configured to be several, distributed along the outer periphery of the mounting bracket 1000. These connecting portions 1100 can be divided into first connecting portions and second connecting portions. The first connecting portion can be used to connect to the fixing sleeve 6000, meaning it can be used to connect to the fixing sleeve 6000 in both non-outward-swinging and outward-swinging structures. The second connecting portion can be used to connect to the base of the cleaning robot when adapted to a non-outward-swinging structure, and to connect to the outward-swinging bracket 100 when adapted to an outward-swinging structure, thus distinguishing between the two scenarios. Those skilled in the art can design according to actual needs, and no limitations are imposed here.

[0072] Since the external swing structure requires an external swing motion, which involves expanding outwards and contracting inwards relative to the base of the cleaning robot 10, the mounting bracket 1000, the fixing sleeve 6000, and the external swing bracket 100 need to perform an external swing motion as a whole under the drive of the external swing driver 200. Therefore, the fixing sleeve 6000 is not fixed to the base of the cleaning robot 10, but can move relative to the base of the cleaning robot 10.

[0073] Therefore, by designing the connection method between the connecting part 1100 and the fixed sleeve 6000 or the external swing bracket 100, the cleaning robot 10 can be used in various scenarios with external swing structures and non-external swing structures.

[0074] For example, the module structure composed of the assembly bracket 1000, the controller 2000 and the drive device 3000 can be directly fixedly connected to the studs on the base of the cleaning robot 10 in the non-outward swing wiping cloth lifting assembly, so as to play a positioning and fixing role. Alternatively, the module structure composed of the assembly bracket 1000, the controller 2000 and the drive device 3000 can also be connected to the outward swing bracket 100 of the sweeper's outward swing assembly.

[0075] See also Figures 1 to 11 As can be seen, the drive module provided in this application uses a brushless motor direct drive method, rather than a brushed motor with a gearbox. Therefore, it completely solves the series of drawbacks associated with brushed motors with gearboxes. Compared to the brushed motor with gearbox solution, system efficiency and lifespan are effectively improved, operating noise and size are effectively reduced, and maintenance costs are significantly lowered. For example, experimental data shows that after the above improvements, compared to existing solutions, system efficiency can be increased by approximately 20%, lifespan by about five times, operating noise reduced by about 20 dB, component size reduced by about 50%, and maintenance costs significantly lowered.

[0076] Furthermore, in addition to its function as a motor bracket, the aforementioned mounting bracket 1000 also improves upon the ordinary bracket structure by integrating a flange connection function. This flange connection function is manifested in the addition of a connecting part 1100 with a threaded hole 1110 on the mounting bracket 1000. This allows the mounting bracket 1000 to function as a motor bracket for assembling the motor, while also fulfilling the connection function of the flange. One or more connecting parts 1100 can be used to connect to swing-out or non-swing-out structures, such as connecting to the fixing sleeve 6000 or the swing-out bracket 100. This integrated structural design, combining the motor bracket and flange, reduces the number of components in the overall module while lowering the overall module thickness. This enables compatibility with ultra-thin main units, allowing the entire module to be only 50mm or less in height.

[0077] See Figures 1 to 9 As shown, in one embodiment, the drive module may further include a lifting bushing 4000 and a drive sleeve 5000. The lifting bushing 4000 is configured to drive the connected cleaning assembly.

[0078] The output shaft 3100 of the driving device 3000 is drivenly connected to the driving sleeve 5000. The driving sleeve 5000 is threadedly driven to the lifting sleeve 4000 and configured to drive the lifting sleeve 4000 to reciprocate linearly along the central axis of the output shaft 3100. Therefore, when the driving device 3000 is running, the output shaft 3100 can rotate, driving the driving sleeve 5000 to rotate. At this time, the driving sleeve 5000 will drive the lifting sleeve 4000 to move based on the threaded assembly. Assuming that the threaded assembly between the driving sleeve 5000 and the lifting sleeve 4000 is also centered on the central axis of the output shaft 3100, the output shaft 3100 is coaxial with the driving sleeve 5000 and the lifting sleeve 4000. The power drive of the output shaft 3100 can then drive the lifting sleeve 4000 to reciprocate linearly along the common central axis, thereby realizing the lifting action of the lifting sleeve 4000.

[0079] Continue reading Figure 1 and Figure 2As shown, in one embodiment, the drive module includes a fixed sleeve 6000 and a damping assembly 7000. The fixed sleeve 6000 is sleeved on the outer periphery of the lifting bushing 4000, and the mounting bracket 1000 is connected to the fixed sleeve 6000. Therefore, the fixed sleeve 6000 can serve as the force point for the mounting bracket 1000 and the drive component 3000. The mounting bracket 1000 and the drive component 3000 can remain stationary relative to the fixed sleeve 6000, while the output shaft 3100 of the drive component 3000 rotates. The output shaft 3100 drives the drive sleeve 5000 to rotate, thereby driving the lifting bushing 4000 to reciprocate linearly along a common central axis, realizing the lifting action of the lifting bushing 4000.

[0080] Continue reading Figure 2 As shown, the damping assembly 7000 is fitted between the fixed sleeve 6000 and the lifting bushing 4000. The damping assembly 7000 can provide friction to the lifting bushing 4000. Without friction, the lifting bushing 4000 and the fixed sleeve 6000 will rotate in place without moving up or down. The damping assembly 7000 can be fixedly mounted to the fixed sleeve 6000, and its inner wall can be provided with several soft damping protrusions or damping pillars, thereby providing friction to the lifting bushing 4000.

[0081] Continue reading Figures 6 to 9 As shown, in one embodiment, the lifting bushing 4000 includes an inner bushing 4100 and an outer bushing 4200. The inner bushing 4100 is fitted inside the outer bushing 4200 and is connected to the outer bushing 4200. An annular sleeve space 4001 is formed between the outer walls of the inner bushing 4100 and the outer walls of the outer bushing 4200. Based on the formed sleeve space 4001, the drive sleeve 5000 can be driven to fit within the sleeve space 4001 of the lifting bushing 4000.

[0082] For example, in one embodiment, at least one of the inner bushing 4100 and the outer bushing 4200 is provided with a threaded structure. That is, the threaded structure can be provided in the inner bushing 4100, the outer bushing 4200, or both the inner bushing 4100 and the outer bushing 4200. Correspondingly, the drive sleeve 5000 is provided with a drive protrusion. Therefore, based on the threaded structure configuration, the drive protrusion can also be provided on the inner wall or outer wall of the drive sleeve 5000, or both the inner and outer walls of the drive sleeve 5000 can have the aforementioned drive protrusion. Thus, in different embodiments, the drive sleeve 5000 can be threadedly driven and assembled with the threaded structure of at least one of the inner bushing 4100 and the outer bushing 4200 via the drive protrusion, achieving linear drive of the lifting bushing 4000 based on the threaded engagement; this is not limited here.

[0083] Continue reading Figure 7 , Figures 12 to 14 As shown, a magnetic element 4300 is provided inside the inner bushing 4100. Therefore, the inner bushing 4100 can be configured to be magnetically driven to connect to the cleaning assembly via the magnetic element 4300. For example, a mating magnetic element 4300 can also be provided in the cleaning assembly. In this case, the magnetic element 4300 of the inner bushing 4100 and the magnetic element 4300 in the cleaning assembly can be magnetically connected, thereby realizing the magnetic assembly between the inner bushing 4100 and the cleaning assembly.

[0084] See Figures 12 to 14 As shown, the cleaning assembly may include a cleaning disc 20 and a cleaning component 21. The inner bushing 4100 can be magnetically assembled with the magnetic structure provided on the cleaning disc 20 using a magnetic component 4300. The cleaning disc 20 and the cleaning component 21 may be a cloth tray and a cloth, respectively. In addition, the cleaning assembly may be selected from other types as needed, so that the drive module of this embodiment can be applied to different types of cleaning assemblies, which is not limited here.

[0085] For the structural design of the 4000 lifting bushing, please refer to [link / reference needed]. Figures 7 to 9 As shown, the distal ends of the inner bushing 4100 and the outer bushing 4200 are configured to be away from the mounting bracket 1000, i.e. Figure 7 As shown above, the proximal ends of the inner bushing 4100 and the outer bushing 4200 are positioned close to one end of the mounting bracket 1000, i.e. Figure 7 The lower end is shown. Therefore, the distal end of the inner bushing 4100 is connected to the distal end of the outer bushing 4200, the proximal end of the inner bushing 4100 and the proximal end of the outer bushing 4200 form an annular opening 4002 that connects the sleeve space 4001, and the axial length of the inner bushing 4100 is less than the axial length of the outer bushing 4200.

[0086] For the structural design of the drive sleeve 5000, please refer to [link / reference needed]. Figure 2 As shown, if the distal ends of the inner bushing 4100 and the outer bushing 4200 are configured to be away from the mounting bracket 1000, that is... Figure 2 As shown above, the proximal ends of the inner bushing 4100 and the outer bushing 4200 are positioned close to one end of the mounting bracket 1000, i.e. Figure 2 The lower end is shown. The proximal end of the drive sleeve 5000 is closed, and the distal end of the drive sleeve 5000 is open. A power transfer groove 5100 is provided at the proximal end of the drive sleeve 5000, and the output shaft 3100 of the drive device 3000 is driven and plugged into the power transfer groove 5100.

[0087] In addition, this application embodiment also provides a cleaning device, which may include the aforementioned drive module. As can be seen from the above, the drive module can be adapted to either a non-swinging structure or a swinging structure. Therefore, when adapted to a non-swinging structure, it can constitute a non-swinging cleaning device, and when adapted to a swinging structure, it can constitute a swinging cleaning device.

[0088] See Figures 1 to 9 as well as Figure 15 As shown, when the above-mentioned cleaning device is constructed as a non-outward-swinging cleaning device, it may include the aforementioned drive module and cleaning components for performing cleaning work. In the non-outward-swinging cleaning device, the connecting portion 1100 of the mounting bracket 1000 connects the fixing sleeve 6000 and the base of the cleaning robot 10. The cleaning components include a cleaning disc 20 and a cleaning element 21. The cleaning element 21 may be a rag, a side brush, or other components with cleaning functions. For example, for a wet cleaning robot, the cleaning element 21 may be a rag, and for a dry cleaning robot, the cleaning element 21 may be a side brush. Therefore, for different cleaning scenarios and cleaning purposes, those skilled in the art can select appropriate components to perform cleaning operations according to actual needs, and no limitations are imposed here.

[0089] See Figure 10 and Figure 11 as well as Figure 16 As shown, when the above-mentioned cleaning device is constructed as an externally swinging cleaning device, it may include the aforementioned drive module, externally swinging bracket 100, and cleaning components. The externally swinging bracket 100 is mounted on the mounting bracket 1000 of the drive module. Similarly, the design of the externally swinging bracket 100 mainly enables the externally swinging cleaning device to perform the externally swinging action of the cleaning components within the cleaning robot 10, thus possessing an externally swinging control function. This externally swinging control function manifests as the cleaning components reciprocating along the lateral direction of the cleaning robot 10, that is, expanding outwards towards the vertical projection coverage surface of the cleaning robot 10 and retracting inwards towards the vertical projection coverage surface of the cleaning robot 10.

[0090] The outward expansion action, where the cleaning components move outward from the vertical projection coverage of the cleaning robot 10, gradually increases the area of ​​the cleaning components exposed within the cleaning robot 10. Conversely, the inward contraction action, where the cleaning components move inward from the vertical projection coverage of the cleaning robot 10, gradually decreases the area of ​​the cleaning components exposed within the cleaning robot 10.

[0091] Therefore, in the external swing cleaning device, the connecting portion 1100 of the mounting bracket 1000 can connect the fixed sleeve 6000 and the external swing bracket 100. At this time, the mounting bracket 1000, the fixed sleeve 6000, and the external swing bracket 100 need to perform an external swing motion as a whole under the driving action of the external swing driver 200. Therefore, the fixed sleeve 6000 is not fixed to the base of the cleaning robot 10, but can move relative to the base of the cleaning robot 10. Furthermore, since the mounting bracket 1000, the fixed sleeve 6000, and the external swing bracket 100 will perform an external swing motion as a whole, the external swing driver 200 can drive at least one of the mounting bracket 1000, the fixed sleeve 6000, and the external swing bracket 100; this is not limited here.

[0092] contrast Figure 15 and Figure 16 It can be seen that, Figure 15 The cleaning tray 20 shown is in a non-outward-swinging state. Figure 15 The cleaning robot 10 in the text can represent either a design equipped with a non-outward-swinging cleaning device or a design equipped with an outward-swinging cleaning device, but in a state where it does not perform an outward-swinging motion. Figure 16 The cleaning robot 10 in the figure can be represented by a design with an externally swinging cleaning device, and one of the cleaning trays 20 (on the right side of the figure) performs an externally swinging motion.

[0093] For example, when the aforementioned drive module is connected to the swing bracket 100, it can control the swing bracket 100 and the cleaning component 21 to perform synchronous lifting and lowering movements, thereby achieving lifting and lowering control. Simultaneously, the swing driver 200 is connected to the swing bracket drive, allowing the swing bracket 100 to be driven independently by the swing driver 200 (such as a motor), achieving outward expansion and inward retraction movements. The directions of these outward expansion and inward retraction movements are approximately perpendicular to the aforementioned lifting and lowering movements. By relying on a motor to achieve the aforementioned outward expansion and inward retraction movements, the cleaning function of the cleaning component 21 can be realized through outward expansion and inward retraction.

[0094] The cleaning component 21 used in the external cleaning device can also be a rag, a side brush, or other components with cleaning functions. For example, for the wet cleaning robot 10, the cleaning component 21 can be a rag, and for the dry cleaning robot 10, the cleaning component 21 can be a side brush. Therefore, for different cleaning scenarios and cleaning purposes, those skilled in the art can select appropriate components to perform cleaning operations according to actual needs, and no limitations are imposed here.

[0095] It should be noted that the aforementioned non-swinging cleaning device only has the lifting control function of the cleaning component 21, while the swinging cleaning device has both the lifting control function of the cleaning component 21 and the swinging control function. For cleaning robots 10 such as sweeping machines or mopping machines, the cleaning robot 10 may only have a non-swinging cleaning device or a swinging cleaning device, or it may have both. For example, for a sweeping machine, two cleaning discs 20 can be set up. One cleaning disc 20 may not require the swinging bracket 100, achieving a cleaning solution without swinging function, while the other cleaning disc 20 may be equipped with the swinging bracket 100, achieving a cleaning solution with swinging function. Those skilled in the art can choose the functional design of the cleaning robot 10 according to actual needs, and no limitations are imposed here.

[0096] Meanwhile, this application embodiment provides a cleaning robot 10, which may include a drive module, or the aforementioned cleaning device. Since the specific structure, functional principles, and technical effects of the drive module and cleaning device have been described in detail above, they will not be repeated here. Any technical content related to the drive module can be referred to the foregoing description, and is not limited here.

[0097] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above-described embodiments are merely illustrative of several implementation methods of the embodiments of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the embodiments of this application, and these all fall within the protection scope of the embodiments of this application. Therefore, the protection scope of the patent for the embodiments of this application should be determined by the appended claims.

Claims

1. A drive module, characterized in that, The drive module includes: An assembly bracket is provided with a shaft hole, and at least one connecting part is provided on the outer side of the assembly bracket, the connecting part being configured to connect at least a fixing sleeve. A control device, wherein the control device is disposed on the assembly bracket; A driving device configured as a brushless driver, the driving device being mounted on the mounting bracket, the controller being electrically connected to the driving device, the driving device having an output shaft passing through a shaft hole in the mounting bracket.

2. The drive module according to claim 1, characterized in that, The connecting part is configured for connecting the fixing sleeve and the base of the cleaning robot; or, The connecting part is configured to connect the fixed sleeve and the external swing bracket, and at least one of the mounting bracket, the fixed sleeve and the external swing bracket is configured to move under the driving action of the external swing driver.

3. The drive module according to claim 1, characterized in that, The connecting portion is configured as a protrusion extending laterally from the sidewall of the mounting bracket; and / or, The connecting part is provided with a threaded hole; and / or The number of connecting parts is configured to be several, and the several connecting parts are distributed along the outer periphery of the mounting bracket. The several connecting parts include at least one first connecting part and at least one second connecting part. The first connecting part is configured to connect to a fixing sleeve, and the second connecting part is configured to connect to the base or outward swing bracket of the cleaning robot.

4. The drive module according to claim 1, characterized in that, The drive module includes: A lifting bushing, configured for driving a connected cleaning assembly; A drive sleeve is provided, wherein the output shaft of the drive device is drivenly connected to the drive sleeve, and the drive sleeve is threadedly driven to the lifting shaft sleeve, and is configured to drive the lifting shaft sleeve to reciprocate linearly along the central axis of the output shaft.

5. The drive module according to claim 4, characterized in that, The drive module includes a cleaning component, which includes a cleaning disc and a cleaning element. The cleaning element is mounted on the cleaning disc, and the cleaning disc is mounted on the lifting shaft sleeve.

6. The drive module according to claim 5, characterized in that, The lifting bushing includes an inner bushing and an outer bushing. The inner bushing is fitted inside the outer bushing and is connected to the outer bushing. An annular sleeve space is formed between the outer wall of the inner bushing and the outer wall of the outer bushing. The driving sleeve is driven and assembled in the sleeve space of the lifting bushing, and the cleaning disc is assembled in the inner bushing.

7. The drive module according to claim 6, characterized in that, At least one of the inner bushing and the outer bushing is provided with a threaded structure, and the drive sleeve is provided with a drive protrusion. The drive sleeve is threadedly driven to assemble with the threaded structure of at least one of the inner bushing and the outer bushing via the drive protrusion; and / or The inner bushing and the cleaning disc are magnetically connected via a magnetic drive component; and / or, The distal end of the inner bushing is connected to the distal end of the outer bushing, and the proximal end of the inner bushing and the proximal end of the outer bushing form an annular opening communicating with the bushing space; wherein, the distal end of the inner bushing and the distal end of the outer bushing are configured away from the mounting bracket, and the proximal end of the inner bushing and the proximal end of the outer bushing are configured close to the mounting bracket; and / or, The axial length of the inner bushing is less than the axial length of the outer bushing; and / or, The proximal end of the drive sleeve is closed, and the distal end of the drive sleeve is open. A power transfer groove is provided at the proximal end of the drive sleeve, and the output shaft of the drive device is driven to insert into the power transfer groove. The distal ends of the inner and outer bushings are configured to be away from the mounting bracket, and the proximal ends of the inner and outer bushings are configured to be close to the mounting bracket.

8. The drive module according to claim 4, characterized in that, The drive module includes: A fixed sleeve is sleeved on the outer periphery of the lifting bushing, and the mounting bracket is connected to the fixed sleeve. A damping kit is fitted between the fixed sleeve and the lifting bushing.

9. The drive module according to claim 1, characterized in that, The driving device is configured as a brushless motor; and / or, The controller is configured as a circuit board; and / or, The drive module includes a motor cover that covers the outside of the drive device and is connected to the mounting bracket; and / or, The controller is configured as a ring structure and is fitted around the periphery of the drive device.

10. A cleaning device, characterized in that, The cleaning device includes the drive module as described in any one of claims 1-9.

11. A cleaning robot, characterized in that, The cleaning robot includes: The drive module as described in any one of claims 1-9; or, The cleaning device as described in claim 10.

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